A dynamic modeling method for centrifugal weight type overspeed governor of elevator

Abstract

The application provides a kind of elevator centrifugal block type governor dynamics modeling method, comprising: based on equivalent replacement method, each component of centrifugal block type governor is simplified, is converted into each connecting rod component and corresponding concentrated mass center, obtains simplified mechanical model, force analysis is carried out to each connecting rod component and corresponding concentrated mass center, corresponding force balance equation is established according to d'Alembert principle, obtains stress analysis model, the geometric characteristic parameter of each connecting rod component is extracted, the correlation equation between geometric characteristic parameters is constructed, the quantitative corresponding relationship of each geometric characteristic parameter is obtained, according to the correlation equation between force balance equation and geometric characteristic parameters, the functional relationship equation between spring deformation and governor wheel centrifugal speed is obtained, and then the corresponding relationship of spring deformation and governor wheel centrifugal speed is output.The application can optimize the structural design of governor through accurate dynamics analysis.

Description

Technical Field

[0001] This invention relates to the field of elevator speed governor modeling technology, specifically to a dynamic modeling method for an elevator centrifugal speed governor. Background Technology

[0002] Elevator speed governors are crucial safety devices for elevators, monitoring their speed and stopping them promptly by cutting off power or linking with safety brakes when overspeeding occurs. Centrifugal speed governors are currently the most common type. Traditional design methods for centrifugal speed governors often rely on empirical formulas and repeated physical prototype tests, resulting in long design cycles, high costs, and difficulty in accurately optimizing product performance. For example, existing design methods analyze the forces acting on the centrifugal speed governor and construct motion equations to investigate the causes of speed governor errors. However, these methods have significant limitations: they neglect the influence of key structural components such as rods, nuts, and screws, fail to consider the weight and acceleration of the centrifugal blocks themselves, and only assume an ideal condition where the centrifugal block's center of mass coincides perfectly with the connecting rod's center. These multiple simplifications deviate significantly from actual conditions, leading to insufficient accuracy in the model and making it difficult to provide effective reference for the engineering design and optimization of centrifugal speed governors. Summary of the Invention

[0003] To overcome the defects and shortcomings of existing technologies, this invention provides a dynamic modeling method for elevator centrifugal speed governors. By establishing a dynamic model, this invention can quickly adjust and simulate the parameters of various components of the speed governor, study the influence of different parameters on the speed governor's performance, and significantly reduce the number of physical prototypes and tests by using the dynamic model, thereby lowering design costs and shortening the design cycle. At the same time, precise dynamic analysis can optimize the structural design of the speed governor.

[0004] This invention provides a dynamic modeling method for a centrifugal speed governor in an elevator, comprising the following steps:

[0005] The components of the centrifugal block speed limiter are simplified based on the equivalent substitution method. According to the functional attributes and mechanical properties of each component of the centrifugal block speed limiter, each component is transformed into each connecting rod component and its corresponding center of mass, thus obtaining a simplified mechanical model.

[0006] Based on the simplified mechanical model, the force analysis of each link component and its corresponding center of mass is performed, and the corresponding force equilibrium equation is established according to d'Alembert's principle to obtain the force analysis model.

[0007] Extract the geometric feature parameters of each link component, construct the correlation equation between the geometric feature parameters, and obtain the quantitative correspondence of each geometric feature parameter;

[0008] Based on the force balance equation and the correlation equation between the geometric characteristic parameters, the functional relationship equation between the spring deformation and the centrifugal speed of the speed limiter wheel is obtained.

[0009] Based on the functional relationship equation between spring deformation and the centrifugal speed of the speed limiter wheel, the corresponding relationship between spring deformation and the centrifugal speed of the speed limiter wheel is output.

[0010] As a preferred technical solution, force analysis is performed on each link component and its corresponding center of mass. Each link component includes: upper weight, lower weight, upper connecting rod, lower connecting rod, left connecting rod, spring connecting rod, and locking nut. The corresponding gravity, centrifugal force, inertial force, and constraint forces between components are constructed, and the corresponding force balance equations are established based on d'Alembert's principle.

[0011] As a preferred technical solution, the force balance equation of the left connecting rod is:

[0012] ;

[0013] ;

[0014] ;

[0015] ;

[0016] in, The centrifugal force of the left connecting rod, The angle of the link swing. The inertial force of the left connecting rod. This represents the constraint force along the x-direction on a component at point A1. This is also the constraint force along the x-direction from another component at point A1. There are two components at point A1, and the forces exerted by the two components in the x-direction are equal in magnitude but opposite in direction. Let A2 be the constraint force along the x-direction. The weight of the left connecting rod. The rotation angle of the speed limiter. Let A1 be the constraint force along the y-direction. The constraint force at point A2 is along the y-direction. Point A1 is the connection point between the upper link and the left link, and point A2 is the connection point between the lower link and the left link.

[0017] As a preferred technical solution, the force balance equations for the upper weight and the upper connecting rod are as follows:

[0018] ;

[0019] ;

[0020] in, Let A1 be the constraint force along the x-direction. Let A1 be the constraint force along the y-direction. Let B be the constraint force along the x-direction. Let B be the constraint force along the y-direction. The inertial force of the upper connecting rod, The centrifugal force of the upper connecting rod, The weight of the upper connecting rod. The inertial force of the upper heavy block, The centrifugal force of the upper heavy block, The weight of the upper block is denoted by .

[0021] As a preferred technical solution, the force balance equations for the lower weight and the lower connecting rod are as follows:

[0022] ;

[0023] ;

[0024] in, Let A2 be the constraint force along the y-direction. Let A2 be the constraint force along the x-direction. For the inertial force of the lower connecting rod, The centrifugal force of the lower connecting rod, The weight of the lower connecting rod. The weight of the lower block. The centrifugal force of the lower weight For the inertial force of the lower heavy block, Let B be the initial displacement of point B relative to point M1 in the y-direction. Let B be the displacement of point B relative to point M1 in the y-direction, E be the foot of the perpendicular line drawn from point M1 to line OO1, and H be the foot of the perpendicular line drawn from point O1 to line OM1. The point is the foot of the perpendicular line drawn from point M1 to the line OOx. Let M1 be the foot of the perpendicular line drawn from point Ox to the straight line OM1. Point M2 is the connection point between the upper link and the speed limiter wheel. Point M2 is the connection point between the lower link and the speed limiter wheel. Point B is the connection point between the spring link and the upper link. Point O is the center of the speed limiter wheel. Point O1 is the center of gravity of the upper swing block. Point Ox is the center of gravity of the upper link.

[0025] As a preferred technical solution, the force balance equation of the spring connecting rod is:

[0026] ;

[0027] ;

[0028] ;

[0029] ;

[0030] in, , Let B be the constraint force along the opposite x-direction. , Let be the constraint force at point B in the opposite y-direction. The centrifugal force of the spring connecting rod The inertial force of the spring connecting rod, Gravity of the spring connecting rod Centrifugal force when locking the nut The inertial force of the locking nut. The weight of the lock nut Let be the angle between the centrifugal force of the spring connecting rod and the x-axis. The angle between the centrifugal force of the locking nut and the x-axis. is the spring constant.

[0031] As a preferred technical solution, the geometric feature parameters of each link component are extracted, and the correlation equations between the geometric feature parameters are constructed, specifically including:

[0032] Linkage swing angle The calculation equation is as follows:

[0033] ;

[0034] The equation for calculating the geometric characteristic parameter M1E is:

[0035] ;

[0036] ;

[0037] ;

[0038] In this diagram, point O is the center of the speed limiter wheel, point O1 is the center of gravity of the upper slinger, and point M1 is the connection point between the upper linkage and the speed limiter wheel. Let B be the initial displacement of point B relative to point M1 in the y-direction. Let B be the displacement of point B relative to point M1 in the y direction. Point B is the connection point between the spring link and the upper link.

[0039] The equation for calculating the geometric characteristic parameter O1E is:

[0040] ;

[0041] The equation for calculating the geometric characteristic parameter O1H is as follows:

[0042] ;

[0043] The equation for calculating the geometric characteristic parameter M1H is as follows:

[0044] ;

[0045] Where point C is the foot of the perpendicular line drawn from point O1 to the line BM1;

[0046] Geometric characteristic parameter M1H x The calculation equation is as follows:

[0047] ;

[0048] Where Cx is the foot of the perpendicular line drawn from point Ox to the line BM1, and point Ox is the center of gravity of the upper link;

[0049] Geometric feature parameter O x H x The calculation equation is as follows:

[0050] ;

[0051] Geometric characteristic parameter M1E x The calculation equation is as follows:

[0052] ;

[0053] ;

[0054] ;

[0055] The equation for calculating the geometric characteristic parameter γ2 is:

[0056] ;

[0057] Wherein, point N is the foot of the perpendicular line drawn from point O to the straight line BO3, and point O4 is the center of gravity of the locking nut on the spring connecting rod.

[0058] The present invention also provides a dynamic modeling system for an elevator centrifugal speed governor, used to implement the above-mentioned dynamic modeling method for an elevator centrifugal speed governor, including: a simplification module, a force analysis module, a geometric feature parameter quantification module, a function relationship equation construction module, and an output module;

[0059] The simplification module is used to simplify the components of the centrifugal block speed limiter based on the equivalent substitution method. According to the functional attributes and mechanical properties of each component of the centrifugal block speed limiter, each component is transformed into each connecting rod component and its corresponding center of mass, thus obtaining a simplified mechanical model.

[0060] The force analysis module is used to perform force analysis on each link component and its corresponding center of mass based on the simplified mechanical model, and to establish the corresponding force equilibrium equations according to d'Alembert's principle to obtain the force analysis model.

[0061] The geometric feature parameter quantization module is used to extract the geometric feature parameters of each link component, construct the correlation equation between the geometric feature parameters, and obtain the quantified correspondence of each geometric feature parameter.

[0062] The functional relationship equation construction module is used to obtain the functional relationship equation between the spring deformation and the centrifugal speed of the speed limiter wheel based on the force balance equation and the correlation equation between the geometric characteristic parameters.

[0063] The output module is used to output the correspondence between the spring deformation and the centrifugal speed of the speed limiter wheel based on the functional relationship equation between the spring deformation and the centrifugal speed of the speed limiter wheel.

[0064] The present invention also provides a computer-readable storage medium comprising a stored program that, when executed, implements the above-described method for dynamic modeling of a centrifugal speed limiter for elevators.

[0065] The present invention also provides a computing device, including a processor and a memory for storing processor-executable programs, wherein when the processor executes the program stored in the memory, it implements the above-described dynamic modeling method for a centrifugal speed limiter for elevators.

[0066] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0067] (1) The present invention simplifies the overall structure of the speed limiter by means of equivalent substitution, which effectively reduces the complexity of the mechanical model, while retaining the core mechanical features and avoiding the computational redundancy caused by full structure modeling.

[0068] (2) This invention combines d'Alembert's principle to transform dynamic problems into static equilibrium problems, which simplifies the force analysis process and improves the accuracy and efficiency of establishing force equilibrium equations.

[0069] (3) This invention constructs geometric parameter correlation equations through the sine and cosine theorems and Heron's formula, realizing the accurate quantification of geometric features and providing a reliable foundation for subsequent equation derivation.

[0070] (4) The present invention adopts a calculation method that combines modular programming and mathematical calculation software, which not only improves the efficiency and accuracy of solving functional relationship equations, but also facilitates subsequent modification and optimization of the model.

[0071] (5) The present invention can accurately output the correspondence between the spring deformation and the centrifugal speed of the speed limiter wheel, providing a precise theoretical basis for the structural design, performance optimization and action speed error control of the centrifugal speed limiter, effectively improving the reliability and engineering practicality of the speed limiter design. Attached Figure Description

[0072] Figure 1 This is a flowchart illustrating the dynamic modeling method for the elevator centrifugal speed limiter of the present invention.

[0073] Figure 2 This is a simplified schematic diagram of the centrifugal speed limiter of the present invention;

[0074] Figure 3 This is a simplified schematic diagram of the left connecting rod of the present invention;

[0075] Figure 4 This is a simplified schematic diagram of the upper connecting rod of the present invention;

[0076] Figure 5 This is a simplified schematic diagram of the lower connecting rod of the present invention;

[0077] Figure 6 This is a simplified schematic diagram of the spring linkage of the present invention. Detailed Implementation

[0078] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0079] Example 1

[0080] like Figure 1 As shown, this embodiment provides a dynamic modeling method for a centrifugal speed governor in an elevator, including the following steps:

[0081] S1: The overall structure of the centrifugal block-type speed limiter is simplified based on the equivalent substitution method. According to the functional attributes and mechanical properties of each component of the speed limiter, rigid components such as the upper and lower weights, upper and lower connecting rods, left connecting rod, spring connecting rod, and locking nut are equivalently transformed into connecting rod components and their corresponding centers of mass, thus constructing a simplified mechanical model, such as... Figure 2As shown, a simplified result of the centrifugal swing block type speed limiter is obtained. In the figure, point A1 is the connection point between the upper connecting rod and the left connecting rod, point A2 is the connection point between the lower connecting rod and the left connecting rod, point B is the connection point between the spring connecting rod and the upper connecting rod, point M1 is the connection point between the upper connecting rod and the speed limiter wheel, point M2 is the connection point between the lower connecting rod and the speed limiter wheel, point O is the center of the speed limiter wheel, point O1 is the center of gravity of the upper swing block, point O2 is the center of gravity of the left connecting rod, point O3 is the center of gravity of the spring connecting rod, point O4 is the center of gravity of the locking nut on the spring connecting rod, point O5 is the center of gravity of the lower swing block, point Ox is the center of gravity of the upper connecting rod, and point Oy is the center of gravity of the lower connecting rod.

[0082] S2: Based on the simplified mechanical model obtained in step S1, force analysis is performed on each link component and the center of mass. During the analysis, the gravity, centrifugal force, inertial force and constraint force between components are included in each research object. According to d'Alembert's principle, the force equilibrium equations corresponding to each research object are established to form a complete force analysis model.

[0083] like Figure 3 As shown, simplifying the left link, the force balance equation of the left link is:

[0084] ;

[0085] ;

[0086] ;

[0087] ;

[0088] in, The centrifugal force of the left connecting rod, The angle of the link swing. The inertial force of the left connecting rod. This represents the constraint force along the x-direction on a component at point A1. This is also the constraint force along the x-direction from another component at point A1. There are two components at point A1, and the forces exerted by the two components in the x-direction are equal in magnitude but opposite in direction. Let A2 be the constraint force along the x-direction. The weight of the left connecting rod. The rotation angle of the speed limiter. Let A1 be the constraint force along the y-direction. The constraint force at point A2 is along the y-direction. Point A1 is the connection point between the upper link and the left link, and point A2 is the connection point between the lower link and the left link.

[0089] like Figure 4 As shown, simplifying the upper connecting rod, the force balance equations for the upper weight and the upper connecting rod are as follows:

[0090] ;

[0091] ;

[0092] in, Let A1 be the constraint force along the x-direction. Let A1 be the constraint force along the y-direction. Let B be the constraint force along the x-direction. Let B be the constraint force along the y-direction. The inertial force of the upper connecting rod, The centrifugal force of the upper connecting rod, The weight of the upper connecting rod. The inertial force of the upper heavy block, The centrifugal force of the upper heavy block, The weight of the upper block;

[0093] like Figure 5 As shown, simplifying the lower link, the force balance equations for the lower weight and the lower link are as follows:

[0094] ;

[0095] ;

[0096] in, Let A2 be the constraint force along the y-direction. Let A2 be the constraint force along the x-direction. For the inertial force of the lower connecting rod, The centrifugal force of the lower connecting rod, The weight of the lower connecting rod. The weight of the lower block. The centrifugal force of the lower weight For the inertial force of the lower heavy block, Let B be the initial displacement of point B relative to point M1 in the y-direction. Let B be the displacement of point B relative to point M1 in the y-direction, E be the foot of the perpendicular line drawn from point M1 to line OO1, and H be the foot of the perpendicular line drawn from point O1 to line OM1. The point is the foot of the perpendicular line drawn from point M1 to the line OOx. Let M1 be the foot of the perpendicular line drawn from point Ox to the straight line OM1. Point M2 is the connection point between the upper link and the speed limiter wheel. Point M2 is the connection point between the lower link and the speed limiter wheel. Point B is the connection point between the spring link and the upper link. Point O is the center of the speed limiter wheel. Point O1 is the center of gravity of the upper swing block. Point Ox is the center of gravity of the upper link.

[0097] like Figure 6 As shown, the spring link is simplified, and the force balance equation of the spring link is:

[0098] ;

[0099] ;

[0100] ;

[0101] ;

[0102] in, , Let B be the constraint force along the opposite x-direction. , Let be the constraint force at point B in the opposite y-direction. The centrifugal force of the spring connecting rod The inertial force of the spring connecting rod, Gravity of the spring connecting rod Centrifugal force when locking the nut The inertial force of the locking nut. The weight of the lock nut Let be the angle between the centrifugal force of the spring connecting rod and the x-axis. The angle between the centrifugal force of the locking nut and the x-axis. is the spring constant;

[0103] S3: Extract the geometric feature parameters of each simplified link component, and construct the correlation equation between the geometric feature parameters by combining the sine and cosine theorems and Heron's formula, and clarify the quantitative correspondence of each geometric feature parameter;

[0104] Linkage swing angle The calculation equation is as follows:

[0105] ;

[0106] The equation for calculating the geometric characteristic parameter M1E is:

[0107] ;

[0108] ;

[0109] ;

[0110] For ∠O1M1C

[0111] The equation for calculating the geometric characteristic parameter O1E is:

[0112] ;

[0113] The equation for calculating the geometric characteristic parameter O1H is as follows:

[0114] ;

[0115] The equation for calculating the geometric characteristic parameter M1H is as follows:

[0116] ;

[0117] Point C is the foot of the perpendicular line drawn from point O1 to the line BM1;

[0118] Geometric characteristic parameter M1H x The calculation equation is as follows:

[0119] ;

[0120] Point Cx is the foot of the perpendicular line drawn from point Ox to line BM1;

[0121] Geometric feature parameter O x H x The calculation equation is as follows:

[0122] ;

[0123] Geometric characteristic parameter M1E x The calculation equation is as follows:

[0124] ;

[0125] ;

[0126] ;

[0127] For ∠O x M1C;

[0128] The equation for calculating the geometric characteristic parameter γ2 is:

[0129] ;

[0130] Point N is the foot of the perpendicular line drawn from point O to line BO3;

[0131] S4: Based on the force balance equation established in step S2 and the correlation equation between the geometric characteristic parameters obtained in step S3, the functional relationship equation between the spring deformation and the centrifugal velocity of the speed limiter wheel can be obtained, specifically:

[0132] Through equations sum equation It can be solved The equation;

[0133] Through equations , , , , It can be solved The equation;

[0134] Through equations sum equation It can be solved The equation;

[0135] Through equations sum equation It can be solved Equation, substitute the equation obtained above and the geometric characteristic parameters into the equation We can obtain the functional relationship equation between the spring deformation and the centrifugal speed of the speed limiter wheel;

[0136] S5: Using a modular programming approach, the functional relationship equation obtained in step S4 is decomposed into multiple independent functional modules according to the calculation logic. The mathematical calculation software calls each functional module to perform programmed calculations and outputs a one-to-one correspondence between the spring deformation and the centrifugal speed of the speed limiter wheel.

[0137] This invention establishes a dynamic model to rapidly adjust and simulate the parameters of various components of the speed governor. It studies the influence of different parameters (such as the mass of the thrown block, the spring constant, and the radius of the rotating shaft) on the speed governor's performance (such as trigger sensitivity and operational stability). For example, by changing the mass of the thrown block, its effect on the critical trigger speed can be observed, thereby finding the optimal mass parameter. This ensures the speed governor maintains sensitivity while avoiding disruption to the elevator's normal operation due to false triggering. Furthermore, using the dynamic model for virtual prototype testing significantly reduces the number of physical prototypes and tests, lowering design costs and shortening the design cycle. Simultaneously, precise dynamic analysis can optimize the speed governor's structural design.

[0138] Example 2

[0139] This embodiment provides a dynamic modeling system for an elevator centrifugal speed governor, used to implement the dynamic modeling method for an elevator centrifugal speed governor according to the above embodiment 1, including: a simplification module, a force analysis module, a geometric feature parameter quantification module, a function relationship equation construction module, and an output module;

[0140] In this embodiment, the simplification module is used to simplify the components of the centrifugal block speed limiter based on the equivalent substitution method. According to the functional attributes and mechanical properties of each component of the centrifugal block speed limiter, each component is transformed into each connecting rod component and its corresponding center of mass, thus obtaining a simplified mechanical model.

[0141] In this embodiment, the force analysis module is used to perform force analysis on each link component and its corresponding concentrated center of mass based on the simplified mechanical model, and to establish the corresponding force equilibrium equation according to d'Alembert's principle to obtain the force analysis model;

[0142] In this embodiment, the geometric feature parameter quantization module is used to extract the geometric feature parameters of each link component, construct the correlation equation between the geometric feature parameters, and obtain the quantized correspondence of each geometric feature parameter;

[0143] In this embodiment, the functional relationship equation construction module is used to obtain the functional relationship equation between the spring deformation and the centrifugal speed of the speed limiter wheel based on the force balance equation and the correlation equation between the geometric characteristic parameters.

[0144] In this embodiment, the output module is used to output the correspondence between the spring deformation and the centrifugal speed of the speed limiter wheel based on the functional relationship equation between the spring deformation and the centrifugal speed of the speed limiter wheel.

[0145] Example 3

[0146] This embodiment provides a storage medium, which may be a ROM, RAM, disk, optical disk, or other storage medium. The storage medium stores one or more programs. When the program is executed by the processor, it implements the dynamic modeling method for the elevator centrifugal speed limiter of Embodiment 1.

[0147] Example 4

[0148] This embodiment provides a computing device, which may be a desktop computer, laptop computer, smartphone, PDA handheld terminal, tablet computer or other terminal device. The computing device includes a processor and a memory. The memory stores one or more programs. When the processor executes the program stored in the memory, it implements the dynamic modeling method of the elevator centrifugal speed limiter of Embodiment 1.

[0149] The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. A dynamic modeling method for a centrifugal speed governor in an elevator, characterized in that, Includes the following steps: The components of the centrifugal block speed limiter are simplified based on the equivalent substitution method. According to the functional attributes and mechanical properties of each component of the centrifugal block speed limiter, each component is transformed into each connecting rod component and its corresponding center of mass, thus obtaining a simplified mechanical model. Based on the simplified mechanical model, the force analysis of each link component and its corresponding center of mass is performed, and the corresponding force equilibrium equation is established according to d'Alembert's principle to obtain the force analysis model. Extract the geometric feature parameters of each link component, construct the correlation equation between the geometric feature parameters, and obtain the quantitative correspondence of each geometric feature parameter; Based on the force balance equation and the correlation equation between the geometric characteristic parameters, the functional relationship equation between the spring deformation and the centrifugal speed of the speed limiter wheel is obtained. Based on the functional relationship equation between spring deformation and the centrifugal speed of the speed limiter wheel, the corresponding relationship between spring deformation and the centrifugal speed of the speed limiter wheel is output.

2. The dynamic modeling method for elevator centrifugal speed governor according to claim 1, characterized in that, Force analysis is performed on each link component and its corresponding center of mass. Each link component includes: upper weight, lower weight, upper link, lower link, left link, spring link, and lock nut. The corresponding gravity, centrifugal force, inertial force, and constraint forces between components are constructed, and the corresponding force equilibrium equations are established based on d'Alembert's principle.

3. The dynamic modeling method for elevator centrifugal speed governor according to claim 2, characterized in that, The force equilibrium equations for the left connecting rod are: ； ； ； ； in, The centrifugal force of the left connecting rod, The angle of the link swing. The inertial force of the left connecting rod. This represents the constraint force along the x-direction on a component at point A1. This is also the constraint force along the x-direction from another component at point A1. There are two components at point A1, and the forces exerted by the two components in the x-direction are equal in magnitude but opposite in direction. Let A2 be the constraint force along the x-direction. The weight of the left connecting rod. The rotation angle of the speed limiter. Let A1 be the constraint force along the y-direction. The constraint force at point A2 is along the y-direction. Point A1 is the connection point between the upper link and the left link, and point A2 is the connection point between the lower link and the left link.

4. The dynamic modeling method for elevator centrifugal speed governor according to claim 2, characterized in that, The force equilibrium equations for the upper weight and the upper connecting rod are: ； ； in, Let A1 be the constraint force along the x-direction. Let A1 be the constraint force along the y-direction. Let B be the constraint force along the x-direction. Let B be the constraint force along the y-direction. The inertial force of the upper connecting rod, The centrifugal force of the upper connecting rod, The weight of the upper connecting rod. The inertial force of the upper heavy block, The centrifugal force of the upper heavy block, The weight of the upper block is denoted by .

5. The dynamic modeling method for elevator centrifugal speed governor according to claim 2, characterized in that, The force equilibrium equations for the lower weight and the lower connecting rod are as follows: ； ； in, Let A2 be the constraint force along the y-direction. Let A2 be the constraint force along the x-direction. For the inertial force of the lower connecting rod, The centrifugal force of the lower connecting rod, The weight of the lower connecting rod. The weight of the lower block. The centrifugal force of the lower weight For the inertial force of the lower heavy block, Let B be the initial displacement of point B relative to point M1 in the y-direction. Let B be the displacement of point B relative to point M1 in the y-direction, E be the foot of the perpendicular line drawn from point M1 to line OO1, and H be the foot of the perpendicular line drawn from point O1 to line OM1. The point is the foot of the perpendicular line drawn from point M1 to the line OOx. Let M1 be the foot of the perpendicular line drawn from point Ox to the straight line OM1. Point M2 is the connection point between the upper link and the speed limiter wheel. Point M2 is the connection point between the lower link and the speed limiter wheel. Point B is the connection point between the spring link and the upper link. Point O is the center of the speed limiter wheel. Point O1 is the center of gravity of the upper swing block. Point Ox is the center of gravity of the upper link.

6. The dynamic modeling method for a centrifugal speed governor in an elevator according to claim 2, characterized in that, The force balance equation for the spring connecting rod is: ； ； ； ； in, , Let B be the constraint force along the opposite x-direction. , Let be the constraint force at point B in the opposite y-direction. The centrifugal force of the spring connecting rod The inertial force of the spring connecting rod, Gravity of the spring connecting rod Centrifugal force when locking the nut The inertial force of the locking nut. The weight of the lock nut Let be the angle between the centrifugal force of the spring connecting rod and the x-axis. The angle between the centrifugal force of the locking nut and the x-axis. is the spring constant.

7. The dynamic modeling method for elevator centrifugal speed governor according to claim 1, characterized in that, Extract the geometric feature parameters of each link component and construct the correlation equations between the geometric feature parameters, specifically including: Linkage swing angle The calculation equation is as follows: ； The equation for calculating the geometric characteristic parameter M1E is: ； ； ； In this diagram, point O is the center of the speed limiter wheel, point O1 is the center of gravity of the upper slinger, and point M1 is the connection point between the upper linkage and the speed limiter wheel. Let B be the initial displacement of point B relative to point M1 in the y-direction. Let B be the displacement of point B relative to point M1 in the y direction. Point B is the connection point between the spring link and the upper link. The equation for calculating the geometric characteristic parameter O1E is: ； The equation for calculating the geometric characteristic parameter O1H is as follows: ； The equation for calculating the geometric characteristic parameter M1H is as follows: ； Where point C is the foot of the perpendicular line drawn from point O1 to the line BM1; Geometric characteristic parameter M1H x The calculation equation is as follows: ； Where Cx is the foot of the perpendicular line drawn from point Ox to the line BM1, and point Ox is the center of gravity of the upper link; Geometric feature parameter O x H x The calculation equation is as follows: ； Geometric characteristic parameter M1E x The calculation equation is as follows: ； ； ； The equation for calculating the geometric characteristic parameter γ2 is: ； Wherein, point N is the foot of the perpendicular line drawn from point O to the straight line BO3, and point O4 is the center of gravity of the locking nut on the spring connecting rod.

8. A dynamic modeling system for a centrifugal speed governor in an elevator, characterized in that, The method for implementing the dynamic modeling method of the elevator centrifugal speed limiter according to any one of claims 1-7 includes: a simplification module, a force analysis module, a geometric feature parameter quantification module, a function relationship equation construction module, and an output module. The simplification module is used to simplify the components of the centrifugal block speed limiter based on the equivalent substitution method. According to the functional attributes and mechanical properties of each component of the centrifugal block speed limiter, each component is transformed into each connecting rod component and its corresponding center of mass, thus obtaining a simplified mechanical model. The force analysis module is used to perform force analysis on each link component and its corresponding center of mass based on the simplified mechanical model, and to establish the corresponding force equilibrium equations according to d'Alembert's principle to obtain the force analysis model. The geometric feature parameter quantization module is used to extract the geometric feature parameters of each link component, construct the correlation equation between the geometric feature parameters, and obtain the quantified correspondence of each geometric feature parameter. The functional relationship equation construction module is used to obtain the functional relationship equation between the spring deformation and the centrifugal speed of the speed limiter wheel based on the force balance equation and the correlation equation between the geometric characteristic parameters. The output module is used to output the correspondence between the spring deformation and the centrifugal speed of the speed limiter wheel based on the functional relationship equation between the spring deformation and the centrifugal speed of the speed limiter wheel.

9. A computer-readable storage medium comprising a stored program, characterized in that, When the program is executed, it implements the dynamic modeling method for elevator centrifugal speed limiter as described in any one of claims 1-7.

10. A computing device, comprising a processor and a memory for storing a processor-executable program, characterized in that, When the processor executes the program stored in the memory, it implements the dynamic modeling method for elevator centrifugal speed limiter as described in any one of claims 1-7.

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