WO2025001237A1 - 电梯的控制方法及设备、电梯、可读存储介质及程序产品 - Google Patents

电梯的控制方法及设备、电梯、可读存储介质及程序产品 Download PDF

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Publication number
WO2025001237A1
WO2025001237A1 PCT/CN2024/079131 CN2024079131W WO2025001237A1 WO 2025001237 A1 WO2025001237 A1 WO 2025001237A1 CN 2024079131 W CN2024079131 W CN 2024079131W WO 2025001237 A1 WO2025001237 A1 WO 2025001237A1
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WO
WIPO (PCT)
Prior art keywords
star
elevator
motor
car
brake
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2024/079131
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English (en)
French (fr)
Inventor
潘敏杰
胡建美
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
GD Midea Heating and Ventilating Equipment Co Ltd
Winone Elevator Co Ltd
Original Assignee
GD Midea Heating and Ventilating Equipment Co Ltd
Winone Elevator Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by GD Midea Heating and Ventilating Equipment Co Ltd, Winone Elevator Co Ltd filed Critical GD Midea Heating and Ventilating Equipment Co Ltd
Publication of WO2025001237A1 publication Critical patent/WO2025001237A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
    • B66B1/28—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical
    • B66B1/30—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical effective on driving gear, e.g. acting on power electronics, on inverter or rectifier controlled motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
    • B66B1/28—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical
    • B66B1/32—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical effective on braking devices, e.g. acting on electrically controlled brakes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B11/00—Main component parts of lifts in, or associated with, buildings or other structures
    • B66B11/04—Driving gear ; Details thereof, e.g. seals
    • B66B11/043—Driving gear ; Details thereof, e.g. seals actuated by rotating motor; Details, e.g. ventilation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B9/00—Kinds or types of lifts in, or associated with, buildings or other structures

Definitions

  • the present disclosure relates to the technical field of elevator control, and more specifically, to an elevator control method, an elevator control device, an elevator, a non-volatile computer-readable storage medium, and a computer program product.
  • the brake is often used for braking. However, if only the brake is used for braking, it is easy to cause more wear of the brake pads.
  • the star-sealing contactor is also used for braking.
  • long-term operation of the star-sealing contactor will also bring adverse effects to the star-sealing contactor. For example, long-term operation causes the temperature of the star-sealing contactor to be too high, thereby affecting the normal operation of the star-sealing contactor.
  • Embodiments of the present disclosure provide an elevator control method, an elevator control device, an elevator, a non-volatile computer-readable storage medium, and a computer program product.
  • the control method of the disclosed embodiment is applied to an elevator, wherein the elevator comprises a motor and a car, wherein the motor is connected to the car, and the method comprises obtaining a moving speed of the car, wherein the moving speed is positively correlated with a rotational speed of the motor; and in response to an elevator braking scenario, when the moving speed is less than or equal to a preset star-locking threshold, turning on a star-locking function to brake the car, wherein the star-locking function is configured to be turned on when the three phases of the motor are short-circuited.
  • the control device of the disclosed embodiment is applied to an elevator, wherein the elevator comprises a motor and a car, wherein the motor is connected to the car, and the control device comprises a drive controller, wherein the drive controller is used to obtain a moving speed of the car, wherein the moving speed is positively correlated with a rotational speed of the motor; and in response to an elevator braking scenario, when the moving speed is less than or equal to a preset star-locking threshold value, a star-locking function is turned on to brake the car, and the star-locking function is configured to be turned on when the three phases of the motor are short-circuited.
  • the elevator of the embodiment of the present disclosure comprises a motor, a car and a control device as described in any one of the above embodiments.
  • the motor is connected to the car.
  • the non-volatile computer-readable storage medium of the embodiment of the present disclosure includes a computer program.
  • the processor executes the control method of any of the above embodiments.
  • the computer program product of the embodiments of the present disclosure includes a computer program, and when the computer program is executed by a processor, the control method described in any one of the above embodiments is implemented.
  • the elevator control method, elevator control device, elevator, non-volatile computer-readable storage medium and computer program product of the disclosed embodiment first drive the controller to obtain the moving speed of the car according to the rotation speed of the motor.
  • the elevator needs to be braked and the moving speed of the car is less than or equal to the preset star-locking threshold, the three phases of the motor are short-circuited to turn on the star-locking function and generate electrical braking force to brake the car.
  • the drive controller can use the star-locking function to brake to avoid braking.
  • the star-sealing function since the star-sealing function is only started when the moving speed is less than or equal to the preset star-sealing threshold, it can also avoid the long-term operation of the star-sealing function, thereby ensuring the normal operation of the device that realizes the star-sealing function as much as possible.
  • FIG1 is a flow chart of a control method for an elevator according to certain embodiments of the present disclosure
  • FIG2 is a schematic diagram of an elevator scene according to certain embodiments of the present disclosure.
  • FIG3 is a partial structural schematic diagram of an elevator according to certain embodiments of the present disclosure.
  • FIG4 is a flow chart of a control method for an elevator according to certain embodiments of the present disclosure.
  • FIG5 is a flow chart of a control method for an elevator according to certain embodiments of the present disclosure.
  • FIG6 is a flow chart of a control method for an elevator according to certain embodiments of the present disclosure.
  • FIG7 is a flow chart of a control method for an elevator according to certain embodiments of the present disclosure.
  • FIG8 is a flow chart of a control method for an elevator according to certain embodiments of the present disclosure.
  • FIG9 is a flow chart of a control method for an elevator according to certain embodiments of the present disclosure.
  • FIG. 10 is a schematic diagram of a connection state between a non-volatile computer-readable storage medium and a processor according to certain embodiments of the present disclosure
  • FIG. 11 is a schematic diagram of a connection state between a computer program product and a processor according to certain embodiments of the present disclosure.
  • an embodiment of the present disclosure provides a control method for an elevator.
  • the elevator 100 includes a motor 20 and a car 30 , and the motor 20 and the car 30 are connected.
  • the control method includes:
  • Step 011 Obtain the moving speed of the car 30, which is positively correlated with the rotation speed of the motor 20;
  • the control method of the present disclosure can be applied to the control device 40 of the elevator 100, and the control device 40 can include a device that can realize the star-locking function, such as the star-locking circuit 41.
  • the elevator 100 generally also includes a brake 50, so as to realize the braking of the elevator 100 through the brake 50.
  • the control device 40 of the present disclosure can complete the braking of the elevator 100 by combining the star-locking function and the braking function of the brake 50, and the so-called braking refers to the action of stopping or reducing the speed of the elevator 100 in operation.
  • the star-locking function is achieved by short-circuiting the three phases of the motor 20 to generate an electrical braking force in the opposite direction of the movement of the elevator 100 to brake the elevator 100.
  • the brake 50 can be a bidirectional thrust elevator brake. When the brake 50 is powered on, it generates a bidirectional electromagnetic thrust to separate the brake 50 from the car 30. When the power is off, the electromagnetic force disappears, and under the action of the external brake spring pressure, a friction brake for power-off braking is formed.
  • the brake 50 may also include a brake pad, The brake 50 brakes the elevator 100 through brake pads, or the elevator 100 may also be equipped with a structure for braking the brake 50, for example, braking by a holding brake.
  • the control device 40 may include a drive controller 42.
  • the drive controller 42 may determine the moving speed of the car 30 according to the rotation speed of the motor 20, so as to facilitate the subsequent determination of which braking method to use according to the moving speed of the car 30. It can be understood that the moving speed is positively correlated with the rotation speed, that is, the faster the rotation speed of the motor 20, the faster the moving speed of the car 30.
  • Step 012 In response to the elevator braking scenario, when the moving speed is less than or equal to the preset star-locking threshold, the star-locking function is turned on to brake the car 30.
  • the star-locking function is configured to be turned on when the three phases of the motor 20 are short-circuited.
  • Elevator 100 may also include a safety circuit 43.
  • the so-called safety circuit 43 means that each safety component of elevator 100 is equipped with a safety switch, and all safety switches are connected in series to control a safety relay. Only when all safety switches are turned on, the safety relay is energized, and the elevator 100 can be powered on and run. Therefore, the elevator braking scenario may also include the disconnection of the safety circuit 43. When the safety circuit 43 is disconnected, it means that the elevator 100 has a fault.
  • a star-sealing contactor is generally used to realize the star-sealing function.
  • the temperature of the star-sealing contactor may become too high, and the coil of the star-sealing contactor may be burned at this time, causing the contact of the star-sealing contactor to be deformed by heat, insufficient compression, unreliable contact, and then increase the contact resistance and burn the contact. Therefore, the star-sealing function cannot be turned on for a long time.
  • the electromotive force generated in the motor 20 will also be high. If braking is performed when the moving speed of the car 30 is high, the power supply of the motor 20 needs to be cut off, resulting in a large reverse electromotive force inside the motor 20. If the three phases of the motor 20 are short-circuited at this time, a large impact current will be generated between the motor 20 and the device that realizes the star-sealing function, which is easy to cause adverse effects on the motor 20 and the device that realizes the star-sealing function.
  • the motor 20 is prone to demagnetization, resulting in the resistance of the device of the star-sealing function being prone to increase. Therefore, the star-sealing function can be turned on only when the moving speed of the car 30 is less than or equal to a certain value.
  • the torque generated by the device that realizes the star-sealing function will not increase with the increase of current, but will generate the maximum star-sealing torque at a certain node. Therefore, the drive controller 42 can set the maximum speed corresponding to the maximum star-sealing torque as the preset star-sealing threshold.
  • the drive controller 42 determines which braking method is needed to brake the elevator 100 according to the moving speed of the car 30 at this time.
  • the drive controller 42 short-circuits the three phases of the motor 20 to turn on the star-locking function, generating an electrical braking force in the opposite direction of the moving direction of the car 30 to brake the car 30.
  • the car 30 will automatically move up or down. For example, if the car 30 itself is heavier than the counterweight, the car 30 will move downward; if the car 30 itself is lighter than the counterweight, the car 30 will move upward.
  • the motor 20 will be driven to rotate, so that an electromotive force will be generated between the motor 20 and the device that realizes the star-sealing function, so that the device that realizes the star-sealing function can generate an electrical braking force in the opposite direction of the movement of the car 30.
  • the star-sealing function can actually only make the car 30 move at a constant speed, but cannot stop the car 30 from moving.
  • the magnitude of the electrical braking force generated eventually reaches a torque balance with the gravity difference between the car 30 and the counterweight, that is, the magnitude of the electrical braking force
  • the car 30 will then continue to move at a constant speed at the current speed, so that the car 30 can move at a slower speed, thereby facilitating the subsequent use of other devices of the elevator 100, such as the brake 50 of the elevator 100, to stop the car 30, thereby ensuring the safety of the car 30 and the passengers.
  • the control method of the disclosed embodiment first drives the controller 42 to obtain the moving speed of the car 30 according to the rotation speed of the motor 20.
  • the elevator 100 needs to be braked and the moving speed of the car 30 is less than or equal to the preset star-sealing threshold
  • the three phases of the motor 20 are short-circuited to turn on the star-sealing function and generate electrical braking force to brake the car 30.
  • the driving controller 42 can use the star-sealing function to brake to avoid excessive wear of the brake pads of the brake 50.
  • the star-sealing function is started only when the moving speed is less than or equal to the preset star-sealing threshold, on the one hand, the long-term operation of the star-sealing function can be avoided, thereby ensuring the normal operation of the device that realizes the star-sealing function as much as possible. On the other hand, it can avoid the generation of large impact current in the motor 20 and the device that realizes the star-sealing function, thereby further ensuring the normal operation of the motor 20 and the device that realizes the star-sealing function.
  • the elevator 100 further includes a brake 50
  • the control method further includes:
  • Step 013 In response to the elevator braking scenario, when the moving speed is greater than the preset star-locking threshold, the brake 50 is controlled to switch to the braking state and the power supply of the motor 20 is disconnected.
  • the control device 40 may further include a main controller 44, which may control the working state of the brake 50 and control the on/off state of the power supply of the motor 20.
  • a main controller 44 which may control the working state of the brake 50 and control the on/off state of the power supply of the motor 20.
  • both the main controller 44 and the drive controller 42 may obtain the moving speed of the car 30.
  • the drive controller 42 will not turn on the star-locking function.
  • the main controller 44 is required to control the brake 50 to switch to a braking state.
  • the control device 40 also includes a brake control circuit 45.
  • Turning off the brake control circuit 45 may switch the brake 50 to a braking state, so as to brake by a brake mode. At the same time, the main controller 44 will disconnect the power supply of the motor 20 to cut off the output torque of the motor 20, so as to avoid the motor 20 from continuously driving the car 30 to run, and use the brake 50 to brake the elevator 100.
  • the control device 40 will first control the brake 50 to switch to the braking state through the main controller 44, and disconnect the power supply of the motor 20.
  • the braking force of the brake 50 is greater than the mass difference between the car 30 and the counterweight, the speed of the car 30 will begin to decrease.
  • the control device 40 will also obtain the moving speed of the car 30 in real time.
  • the drive controller 42 can short-circuit the three phases of the motor 20 to turn on the star-sealing function.
  • the control device 40 may also include a current detection circuit 46. Before short-circuiting the three phases of the motor 20, the current detection circuit 46 can be used to detect whether there is current in the motor 20. The three phases of the motor 20 can be short-circuited only when the power supply of the motor 20 has been disconnected and there is no current in the motor 20. Otherwise, a short circuit problem will occur, causing the motor 20 and the device that can realize the star-sealing function to be easily damaged.
  • the main controller 44 can also control the drive controller 42 to work, so when the elevator 100 stops, the main controller 44 can also control the drive controller 42 to short-circuit the three phases of the motor 20 to start the star-sealing function.
  • the process in which the main controller 44 short-circuits the three phases of the motor 20 by controlling the drive controller 42 is longer, so that the time from the main controller 44 issuing a control instruction to the completion of the three-phase short-circuit of the motor 20 is longer than the time from the drive controller 42 issuing a control instruction to the completion of the three-phase short-circuit of the motor 20, and the control efficiency is also lower. Therefore, in the implementation path, directly controlling the short-circuit of the three phases of the motor 20 through the drive controller 42 is the optimal solution, and the control time is shorter and the control efficiency is also higher.
  • the braking mode of the car 30 can be determined according to the moving speed of the car 30, so as to ensure that the car 30 can complete the stop on the one hand, and on the other hand, avoid the brake 50 and the device that can realize the star-sealing function from working for a long time during the stop process, and avoid generating a large impact current, thereby ensuring the equipment safety of the brake 50 and the device that can realize the star-sealing function.
  • step 012 in response to the elevator braking scenario, when the moving speed is less than or equal to the preset star-locking threshold, the star-locking function is turned on to brake the car 30, including:
  • Step 0121 In response to the elevator braking scenario, when the moving speed is less than or equal to the preset star-locking threshold, the brake 50 is controlled to switch to the braking state and the power supply of the motor 20 is disconnected;
  • Step 0122 When the brake 50 is in the braking state and the power supply 20 is disconnected, the star-locking function is turned on to brake the car 30.
  • the main controller 44 can also control the brake 50 to switch to the braking state and disconnect the power supply of the motor 20 to cut off the output torque of the motor 20.
  • the drive controller 42 can short-circuit the three phases of the motor 20 to turn on the star-sealing function.
  • control device 40 can combine the braking force of the brake 50 and the electrical braking force of the star-sealing function to complete the braking of the elevator 100, thereby ensuring that the elevator 100 can stop in time and ensure the personal safety of the passengers.
  • the elevator 100 when the elevator 100 is in the leveling area, it may be necessary to implement the re-leveling function. Due to the influence of the excessive weight of the main traction wire rope and the weight of the car 30, it is elastically stretched, which causes the elevator 100 that was originally level to have a leveling error. If it is light, the car 30 will rise, and if it is heavy, the car 30 will fall.
  • the re-leveling function is to move the car 30 to the leveling position when the elevator 100 has a leveling error.
  • the control device 40 may also include a car accidental movement monitoring circuit 47.
  • the moving speed of the car 30 When the elevator 100 performs the re-leveling function, the moving speed of the car 30 is usually small, and the moving speed is usually less than the preset star-sealing threshold.
  • the main controller 44 can lock the fault according to the car accidental movement monitoring circuit 47.
  • the main controller 44 can issue a closing command and disconnect the brake control circuit 45 to control the brake 50 to switch to a braking state, and at the same time disconnect the power supply of the motor 20.
  • the drive controller 42 short-circuits the three phases of the motor 20 when the power supply of the motor 20 is disconnected to turn on the star-sealing function. Therefore, under the dual effects of the braking torque and the electrical braking torque of the brake 50, the distance of accidental movement of the car 30 is reduced, and the braking performance of the car 30 when an accidental movement failure occurs is improved. At the same time, the wear of the brake 50 is also reduced, and the service life of the brake 50 is improved.
  • the running speed of the elevator 100 during maintenance (hereinafter referred to as the maintenance speed) can be set to be less than or equal to the maximum slipping speed of the car 30 when the star-sealing function is turned on, where slipping refers to the phenomenon that the car 30 (or counterweight) rises or falls due to the potential energy generated by the mass difference between the car 30 and the counterweight when the elevator 100 loses power drive and control.
  • the maximum slipping speed of the car 30 when the star-sealing function is turned on needs to be tested before the elevator 100 is put into use.
  • the car 30 needs to be loaded with 110%, and then the control brake 50 is switched to the braking state and the power supply of the motor 20 is disconnected.
  • the star-sealing function is turned on at the same time.
  • the star-locking function is activated, the magnitude of the electric braking force generated eventually will reach a torque balance with the gravity difference between the car 30 and the counterweight, that is, the magnitude of the electric braking force is equal to the gravity difference between the car 30 and the counterweight, and then the car 30 will continue to move at a constant speed at this time, which is the maximum sliding speed of the car 30 when the star-locking function is activated.
  • the preset star-locking threshold is the maximum speed corresponding to the maximum star-locking torque. Generally, during the operation of the elevator 100, the reverse torque generated by the star-locking function will not reach the maximum value, so the maximum sliding speed is generally less than the preset star-locking threshold.
  • the electrical braking force can be established within a time not exceeding 20ms.
  • the main controller 44 can control the brake 50 to switch to the braking state and disconnect the power supply of the motor 20, and the drive controller 42 short-circuits the three phases of the motor 20 while the power supply of the motor 20 is disconnected to start the star-sealing function, thereby reducing the loss of control of the car 30 during the period when the brake 50 establishes the braking torque, and also reducing the relative wear between the brake 50 and the traction wheel of the elevator 100, so that under the dual effects of the braking force of the brake 50 and the electrical braking force, the effect of improving the service life of the brake 50 is achieved. In particular, it takes time to build up the braking force, and the braking force is generated gradually.
  • the magnitude of the braking force is usually smaller than the gravity difference between the car 30 and the counterweight, so that the car 30 has an acceleration in the same direction as the original moving direction, so that the car 30 will have a certain acceleration stage.
  • the brake 50 has a weakened braking torque during braking, such as a single brake arm failure, it is difficult for the brake 50 to achieve a quick stop. At this time, it is also necessary to obtain the moving speed of the car 30.
  • the drive controller 42 can turn on the star-locking function and maintain the braking state of the brake 50, so that the wear of the brake 50 can be reduced under the dual effects of the braking force and the electrical braking force of the brake 50.
  • the main controller 44 can determine the braking force capacity of the brake 50 to avoid safety hazards during the idle period of waiting for the next braking force self-monitoring. On the other hand, the main controller 44 can decide whether to lock the fault according to the braking force capacity of the brake 50 to prevent a more serious braking force failure from occurring next time.
  • the elevator 100 further includes a star-sealing circuit 41 .
  • Step 012 starting the star-sealing function includes:
  • Step 0123 Control the star-blocking circuit 41 to short-circuit the three phases of the motor 20 .
  • the elevator 100 can implement the star-blocking function according to the star-blocking circuit 41.
  • the drive controller 42 can control the star-blocking circuit 41 to short-circuit the three phases of the motor 20, so that the star-blocking circuit 41 generates an electrical braking force, and uses the electrical braking force to brake the elevator 100.
  • the main controller 44 when the safety circuit 43 is disconnected, the main controller 44 will receive a signal indicating that the safety circuit 43 is disconnected, and the main controller 43 will obtain the moving speed of the car 30.
  • the main controller 43 can disconnect the brake control circuit 45 so that the brake 50 switches to the braking state and disconnects the power supply of the motor 20, thereby using the brake 50 to brake the car 30 on the one hand and preventing the motor 20 from continuing to drive the car 30 to move on the other hand. Then continue to monitor the moving speed of the car 30 in real time.
  • the main controller 43 can confirm whether there is current in the motor 20 through the current detection circuit 46 to confirm again whether the power supply of the motor 20 has been disconnected. After confirming that the power supply of the motor 20 has been disconnected, the main controller 43 can send a control instruction to the drive controller 42 so that the drive controller 42 controls the star-sealing circuit 41 to short-circuit the three phases of the motor 20, thereby starting the star-sealing function and using the generated electrical braking force to brake the car 30.
  • the star-sealing contactor will have problems such as contact aging, corrosion, oxidation, and noise on the contacts of the contactor itself; on the other hand, considering the mechanical response time of the star-sealing contactor and the characteristics of the coil, the power supply voltage, and the surge absorption characteristics, there are many coupling factors, resulting in a longer response time for the star-sealing contactor, generally between 50ms-150ms, where the surge current refers to the peak current that flows into the power supply device at the moment the power is connected. Therefore, when a dangerous situation occurs, such as during the re-leveling process or the slow running of the maintenance device, the brake 50 is stuck and the brake 50 cannot generate the braking torque.
  • the star-sealing contactor cannot activate the star-sealing function in a short time, which may easily bring safety hazards to the passengers. For example, due to gravity, the elevator 100 may fall quickly within the response time of the star-sealing contactor, which may easily cause certain threats to the personal safety of the passengers.
  • the star-sealing circuit 41 can, on the one hand, avoid the damage and noise problems caused by the electric shock of the contactor itself after long-term use.
  • the star-sealing circuit 41 works with an electronic circuit, and its response time does not exceed 20ms, or can be even lower. Therefore, the response time of opening the star-sealing function can be greatly shortened.
  • the star-sealing circuit 41 can quickly short-circuit the three phases of the motor 20 and generate an electrical braking force, thereby improving the safety performance of the elevator 100 and ensuring the personal safety of the passengers as much as possible.
  • control method when the star-sealing function is turned on, the control method further includes:
  • Step 014 Obtain the current and/or temperature of the star-sealing circuit 41.
  • Step 015 When the current is greater than a preset current threshold and/or the temperature is greater than a preset temperature threshold, the star-blocking circuit 41 is controlled to disconnect the three phases of the motor 20 .
  • the flowing current may cause the star-sealing circuit 41 to heat up.
  • the star-sealing circuit 41 may be easily damaged. Therefore, the drive controller 42 may determine whether the star-sealing circuit 41 can continue to work based on the current, temperature, or both of the current and temperature of the star-sealing circuit 41.
  • the maximum temperature of the star-sealing circuit 41 when it can continue to work may be determined based on the temperature of the star-sealing circuit 41 and the operating conditions of the internal components, and the temperature may be determined as the preset temperature threshold.
  • a preset current threshold of the current may also be set.
  • the star-sealing circuit 41 may be set in a frequency converter, and the rated current may be set based on the frequency conversion capability of the frequency converter, and 1.5 times the rated current may be set as the preset current threshold.
  • the drive controller 42 determines whether the star-sealing circuit 41 can continue to work according to the current of the star-sealing circuit 41. Specifically, when the star-sealing function is turned on, the drive controller 42 can obtain the current of the star-sealing circuit 41 in real time, and compare the current obtained in real time with a preset current threshold. When the current is greater than the preset current threshold, the drive controller 42 controls the star-sealing circuit 41 to disconnect the three phases of the motor 20.
  • the drive controller 42 determines whether the star-sealing circuit 41 can continue to work according to the temperature of the star-sealing circuit 41. Specifically, when the star-sealing function is turned on, the drive controller 42 can obtain the temperature of the star-sealing circuit 41 in real time, and compare the real-time obtained temperature with a preset temperature threshold. When the temperature is greater than the preset temperature threshold, the drive controller 42 controls the star-sealing circuit 41 to disconnect the three phases of the motor 20.
  • the drive controller 42 determines whether the star-sealing circuit 41 can continue to work according to the current and temperature of the star-sealing circuit 41. Specifically, when the star-sealing function is turned on, the drive controller 42 can obtain the temperature and current of the star-sealing circuit 41 in real time, and compare the real-time obtained temperature with a preset temperature threshold, and compare the real-time obtained current with a preset current threshold. When the temperature is greater than the preset temperature threshold and the current is greater than the preset current threshold, the drive controller 42 controls the star-sealing circuit 41 to disconnect the three phases of the motor 20.
  • the drive controller 42 can make a judgment based on the current or temperature at a certain moment. When the current at a certain moment is greater than a preset current threshold or the temperature is higher than a preset temperature threshold, the drive controller 42 can immediately control the star-sealing circuit 41 to disconnect the three-phase connection with the motor 20. Alternatively, the drive controller 42 can also make a judgment based on the duration of the current or temperature exceeding the corresponding threshold. For example, when the current is greater than the preset current threshold or the temperature is higher than the preset temperature threshold, and the duration of exceeding the corresponding threshold is greater than or equal to the predetermined time, the drive controller 42 will control the star-sealing circuit 41 to disconnect the three-phase connection with the electric motor 20. The three-phase connection of the machine 20.
  • the drive controller 42 can monitor the current and temperature of the star-sealing circuit 41 in real time. When the current and/or temperature exceed the corresponding threshold value, the drive controller 42 can promptly control the star-sealing circuit 41 to disconnect the three-phase connection with the motor 20 to avoid the star-sealing circuit 41 from accumulating excessive heat energy, thereby ensuring the safety of the star-sealing circuit 41.
  • the elevator 100 further includes an encoder 60 .
  • the encoder 60 is configured to collect the rotation speed of the motor 20 .
  • the control method further includes:
  • Step 016 When the encoder 60 fails, the star-locking function is turned on to brake the car 30.
  • the encoder 60 of the elevator 100 can be used to collect the rotational speed of the motor 20.
  • the drive controller 42 and the main controller 44 can obtain the moving speed of the car 30 based on the rotational speed of the motor 20 collected by the encoder 60, thereby determining the braking method of the elevator 100 in a targeted manner.
  • the main controller 44 and the drive controller 42 cannot obtain the moving speed of the car 30.
  • the star-locking function can be immediately turned on to reduce the moving speed of the car 30, so that the car 30 can slide at a slower moving speed.
  • the main controller 44 can also control the brake 50 to switch to a braking state and disconnect the power supply of the motor 20, and then turn on the star-locking function while disconnecting the motor 20, so that the elevator 100 is braked under the dual effects of the braking force of the brake 50 and the electrical braking force, so as to further ensure the personal safety of the passengers.
  • control method further includes:
  • Step 017 Control the elevator 100 to operate according to a preset working condition at preset intervals, so as to determine the actual parameters of the star-locking function to complete the braking according to the operation information of the elevator 100, and the operation information at least includes the moving speed;
  • Step 018 When the difference between the actual parameter and the preset safety threshold is less than the preset difference threshold, a safety prompt is issued.
  • the main controller 44 can control the elevator 100 to operate according to the preset working condition, wherein the preset working condition can be that the elevator 100 is loaded with 110% or is unloaded, and at the same time control the brake 50 to switch to the braking state, disconnect the power supply of the motor 20 and turn on the star-sealing function. Then, according to the operation information of the elevator 100, the actual parameters of the star-sealing function to complete the braking are determined, wherein the operation information at least includes the moving speed.
  • a comparison is made.
  • a safety prompt is issued so that the maintenance personnel can repair the elevator 100 in time to ensure the stability of the electrical braking performance, thereby avoiding the elevator 100 from operating with a lower operating performance and causing safety hazards to the elevator 100 and the passengers.
  • the actual parameters may be the current of the star-sealing circuit 41 and the speed of the star-sealing car.
  • the control brake 50 When the control brake 50 is switched to the braking state, the power supply of the motor 20 is disconnected and the star-sealing function is turned on, the electrical braking force generated by the star-sealing circuit 41 and the mass difference between the elevator 100 and the counterweight will always reach a torque balance, so that the elevator 100 moves at the speed of the star-sealing car after the torque balance, but the speed of the star-sealing car should not be too high. An excessively high speed of the star-sealing car will bring certain safety hazards to the elevator 100 and the passengers.
  • a preset safety threshold value may be set according to the speed of the star-sealing car, for example, 3m/s.
  • the current corresponding to the safe movement of the elevator 100 when the star-sealing function is activated may be set as the preset safety threshold value of the current of the star-sealing circuit 41.
  • the elevator 100's star-closing car speed and the current of the star-closing circuit 41 must be less than the corresponding preset safety threshold.
  • the elevator 100's star-closing car speed and the current of the star-closing circuit 41 may gradually increase and gradually approach the preset safety threshold.
  • the difference is less than the preset difference threshold, it can be determined that the operating performance of the elevator 100 has decreased, and the continued operation of the elevator 100 may bring safety hazards to the elevator 100 and the passengers. Therefore, the main controller 44 will issue a safety prompt at this time.
  • the safety threshold of the star-sealing car speed is 3m/s
  • the preset difference threshold is 0.3m/s.
  • the star-sealing car speed of the elevator 100 is low, which may be 2.3m/s.
  • the star-sealing car speed may increase, for example, to 2.5m/s, 2.6m/s.
  • the main controller 44 will issue a safety prompt.
  • the control device 40 of the embodiment of the present disclosure can be applied to the elevator 100.
  • the elevator 100 includes a motor 20 and a car 30.
  • the motor 20 and the car 30 are connected.
  • the control device 40 includes a drive controller 42.
  • the drive controller 42 is used to obtain the moving speed of the car 30, and the moving speed is positively correlated with the rotation speed of the motor 20; and in response to the elevator braking scenario, when the moving speed is less than or equal to the preset star-locking threshold, the star-locking function is turned on to brake the car 30.
  • the star-locking function is configured to be turned on when the three phases of the motor 20 are short-circuited.
  • the control device 40 of the disclosed embodiment first obtains the moving speed of the car 30 according to the rotation speed of the motor 20.
  • the three phases of the motor 20 are short-circuited to start the star-sealing function and generate electrical braking force to brake the car 30.
  • the star-sealing function can be used for braking to avoid excessive wear of the brake pads of the brake 50.
  • the star-sealing function is started only when the moving speed is less than or equal to the preset star-sealing threshold, on the one hand, the long-term operation of the star-sealing function can be avoided, thereby ensuring the normal operation of the device that realizes the star-sealing function as much as possible. On the other hand, it can avoid the generation of large impact current in the motor 20 and the device that realizes the star-sealing function, thereby further ensuring the normal operation of the motor 20 and the device that realizes the star-sealing function.
  • the elevator 100 of the embodiment of the present disclosure includes a motor 20, a car 30 and a control device 40 described in any of the above embodiments.
  • the motor 20 is connected to the car 30.
  • the control device 40 includes a drive controller 42, which is used to obtain the moving speed of the car 30, and the moving speed is positively correlated with the rotation speed of the motor 20; and in response to the elevator braking scenario, when the moving speed is less than or equal to the preset star-locking threshold, the star-locking function is turned on to brake the car 30, and the star-locking function is configured to be turned on when the three phases of the motor 20 are short-circuited.
  • the elevator 100 of the disclosed embodiment is provided with a control device 40.
  • the control device 40 first obtains the moving speed of the car 30 according to the rotation speed of the motor 20.
  • the three phases of the motor 20 are short-circuited to start the star-sealing function and generate electrical braking force to brake the car 30.
  • the star-sealing function can be used for braking to avoid excessive wear of the brake pads of the brake 50.
  • the star-sealing function is started only when the moving speed is less than or equal to the preset star-sealing threshold, on the one hand, the long-term operation of the star-sealing function can be avoided, thereby ensuring the normal operation of the device that realizes the star-sealing function as much as possible. On the other hand, it can avoid the generation of large impact current in the motor 20 and the device that realizes the star-sealing function, thereby further ensuring the normal operation of the motor 20 and the device that realizes the star-sealing function.
  • the embodiment of the present disclosure further provides a non-volatile computer-readable storage medium 200, on which a computer program 210 is stored.
  • a computer program 210 is stored on which a computer program 210 is stored.
  • the steps of the control method of any of the above-mentioned embodiments are implemented. For the sake of brevity, they are not repeated here.
  • the embodiment of the present disclosure further provides a computer program product 300 .
  • the computer program product 300 includes a computer program 310 .
  • the control method of any of the above embodiments is implemented. For the sake of brevity, it will not be described in detail here.
  • Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present disclosure includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present disclosure belong.

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  • Elevator Control (AREA)

Abstract

一种电梯的控制方法及设备、电梯、可读存储介质及程序产品。电梯（100）包括电机（20）和轿厢（30），电机（20）和轿厢（30）连接，方法包括获取轿厢（30）的移动速度，移动速度与电机（20）的转速正相关；及响应于电梯制动场景，在移动速度小于或等于预设封星阈值的情况下，开启封星功能，以制动轿厢（30），封星功能被配置为在电机（20）的三相被短接的情况下开启。如此，在需要制动电梯，且轿厢（30）的移动速度小于或等于预设封星阈值时，可短接电机（20）的三相，以开启封星功能进行制动，避免制动器（50）的刹车片过度损耗，同时由于封星功能是在移动速度小于或等于预设封星阈值时才开始启动，这样还可避免封星功能的长时间运行，从而尽量保证实现封星功能的器件的正常运行。

Description

电梯的控制方法及设备、电梯、可读存储介质及程序产品
优先权信息
本公开请求2023年6月29日向中国国家知识产权局提交的、专利申请号为“202310793755.0”的专利申请的优先权和权益、并且通过参照将其全文并入此处。
技术领域
本公开涉及电梯控制技术领域，更具体而言，涉及一种电梯的控制方法、电梯的控制设备、电梯、非易失性计算机可读存储介质及计算机程序产品。
背景技术
目前在电梯需要制动时，往往会使用制动器来进行制动，但是若只利用制动器进行制动，容易导致制动器的刹车片磨损较多。为了解决这个问题，除了会使用制动器来进行制动，目前还会使用封星接触器来配合制动，但是长时间运行封星接触器同样会对封星接触器带来不良效果，例如长时间运行导致封星接触器的温度过高，从而影响封星接触器的正常运行。
发明内容
本公开实施方式提供一种电梯的控制方法、电梯的控制设备、电梯、非易失性计算机可读存储介质及计算机程序产品。
本公开实施方式的控制方法应用于电梯，所述电梯包括电机和轿厢，所述电机和所述轿厢连接，所述方法包括获取所述轿厢的移动速度，所述移动速度与所述电机的转速正相关；及响应于电梯制动场景，在所述移动速度小于或等于预设封星阈值的情况下，开启封星功能，以制动所述轿厢，所述封星功能被配置为在所述电机的三相被短接的情况下开启。
本公开实施方式的控制设备应用于电梯，所述电梯包括电机和轿厢，所述电机和所述轿厢连接，所述控制设备包括驱动控制器，所述驱动控制器用于获取所述轿厢的移动速度，所述移动速度与所述电机的转速正相关；及响应于电梯制动场景，在所述移动速度小于或等于预设封星阈值的情况下，开启封星功能，以制动所述轿厢，所述封星功能被配置为在所述电机的三相被短接的情况下开启。
本公开实施方式的电梯包括电机、轿厢及上述任一项实施方式所述的控制设备。所述电机和所述轿厢连接。
本公开实施方式的非易失性计算机可读存储介质包括计算机程序，所述计算机程序被处理器执行时，使得所述处理器执行上述任一实施方式的控制方法。
本公开实施方式的计算机程序产品包括计算机程序，所述计算机程序被处理器执行时实现上述任一项实施方式所述的控制方法。
本公开实施方式的电梯的控制方法、电梯的控制设备、电梯、非易失性计算机可读存储介质及计算机程序产品，首先驱动控制器根据电机的转速获取轿厢的移动速度，当需要制动电梯，且轿厢的移动速度小于或等于预设封星阈值时，短接电机的三相，以开启封星功能，产生电气制动力来制动轿厢。如此，驱动控制器可利用封星功能进行制动，避免制 动器的刹车片过度损耗，同时由于封星功能是在移动速度小于或等于预设封星阈值时才开始启动，这样还可避免封星功能的长时间运行，从而尽量保证实现封星功能的器件的正常运行。
本公开的实施方式的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本公开的实施方式的实践了解到。
附图说明
本公开的上述和/或附加的方面和优点从结合下面附图对实施方式的描述中将变得明显和容易理解，其中：
图1是本公开某些实施方式的电梯的控制方法的流程示意图；
图2是本公开某些实施方式的电梯的场景示意图；
图3是本公开某些实施方式的电梯的部分结构示意图；
图4是本公开某些实施方式的电梯的控制方法的流程示意图；
图5是本公开某些实施方式的电梯的控制方法的流程示意图；
图6是本公开某些实施方式的电梯的控制方法的流程示意图；
图7是本公开某些实施方式的电梯的控制方法的流程示意图；
图8是本公开某些实施方式的电梯的控制方法的流程示意图；
图9是本公开某些实施方式的电梯的控制方法的流程示意图；
图10是本公开某些实施方式的非易失性计算机可读存储介质和处理器的连接状态示意图；
图11是本公开某些实施方式的计算机程序产品和处理器的连接状态示意图。
具体实施方式
下面详细描述本公开的实施方式，实施方式的示例在附图中示出，其中，相同或类似的标号自始至终表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施方式是示例性的，仅用于解释本公开的实施方式，而不能理解为对本公开的实施方式的限制。
请参阅图1和图2，本公开实施方式提供一种电梯的控制方法，电梯100包括电机20和轿厢30，电机20和轿厢30连接，该控制方法包括：
步骤011：获取轿厢30的移动速度，移动速度与电机20的转速正相关；
具体地，请结合图3，本公开的控制方法可应用于电梯100的控制设备40中，控制设备40可包括可实现封星功能的器件，例如封星电路41。电梯100一般还会包括制动器50，以通过制动器50实现电梯100的制动。本公开的控制设备40可通过结合封星功能和制动器50的制动功能来完成电梯100的制动，所谓制动指的是使运行中的电梯100停止或减低速度的动作。
其中，封星功能通过短接电机20的三相来完成，以产生方向与电梯100的移动方向相反的电气制动力，来实现制动电梯100。制动器50可以是双向推力电梯制动器，制动器50通电时产生双向电磁推力，使制动器50与轿厢30脱离，断电时电磁力消失，在外加制动弹簧压力的作用下，形成失电制动的摩擦式制动器。制动器50还可包括刹车片， 制动器50通过刹车片来完成制动电梯100，或者，电梯100还可装配有对制动器50进行制动的结构，例如，通过抱闸方式进行制动。
控制设备40可包括驱动控制器42，在电梯100投入使用后，驱动控制器42可根据电机20的转速来确定轿厢30的移动速度，从而便于后续根据轿厢30的移动速度决定使用哪种制动方法。可以理解，移动速度和转速正相关，即电机20的转速越快，轿厢30的移动速度越快。
步骤012：响应于电梯制动场景，在移动速度小于或等于预设封星阈值的情况下，开启封星功能，以制动轿厢30，封星功能被配置为在电机20的三相被短接的情况下开启。
电梯制动场景较多，至少包括电梯100维护、电梯100正常或故障停梯和电梯100意外移动中至少一种。电梯100还可包括安全电路43，所谓安全电路43，就是在电梯100各安全部件都装有一个安全开关，把所有的安全开关串联，控制一只安全继电器。只有所有安全开关都在接通的情况下，安全继电器吸合，电梯100才能得电运行。因此，电梯制动场景还可包括安全电路43断开，当安全电路43断开的时候代表电梯100发生故障。
长时间开启封星功能可能会对实现封星功能的器件带来一定的损坏，例如目前一般采用封星接触器来实现封星功能，在封星接触器长时间运行的情况下，封星接触器的温度可能会变得过高，此时可能会烧毁封星接触器的线圈，导致封星接触器的触点受热变形，压紧度度不够，接触不可靠，进而导致接触电阻增加，触点被烧毁。因此，封星功能不可长时间开启。同时，轿厢30的移动速度较高的情况下，电机20中产生的电动势也会较高，若在轿厢30的移动速度较高的情况下进行制动，则需要切断电机20的电源，导致电机20内部会产生较大的反向电动势，而如果此时短接电机20的三相，电机20和实现封星功能的器件之间会产生较大的冲击电流，从而容易对电机20和实现封星功能的器件造成不良影响，例如在大电流冲击情况下，电机20容易发生退磁的情况，导致封星功能的器件的电阻容易发生阻值增加的情况。因此，在轿厢30的移动速度小于或等于某个值的情况下，封星功能才可开启。同时，实现封星功能的器件产生的力矩不会一直随着电流的增加而增加，而是会在某个节点产生封星最大力矩，因此，驱动控制器42可将封星最大力矩对应的最大速度设为预设封星阈值。
在电梯制动场景发生的情况下，驱动控制器42会根据此时的轿厢30的移动速度判断需要使用哪种制动方法来制动电梯100。在移动速度小于或等于预设封星阈值的情况下，驱动控制器42短接电机20的三相，以开启封星功能，产生与轿厢30的移动方向相反的电气制动力来制动轿厢30。
进一步地，开启封星功能后，由于轿厢30本身和对重之间的重力差，轿厢30会自动往上或往下移动，例如如果轿厢30本身比对重要重，那么轿厢30会向下移动；如果轿厢30本身比对重要轻，那么轿厢30会向上移动。轿厢30由于重力的关系进行移动的过程中会带动电机20转动，使得电机20和实现封星功能的器件之间会产生电动势，从而使得实现封星功能的器件可产生与轿厢30移动方向相反的电气制动力。但是当轿厢30停止移动时，电机20无法转动，对应的电动势也无法产生，此时电气制动力是无法产生的，电气制动力消失后，轿厢30还是会继续移动。因此，封星功能实际上只能使得轿厢30以某个速度匀速移动，而无法使得轿厢30停止移动。在轿厢30继续移动的过程中，最终生成的电气制动力的大小会与轿厢30和对重的重力差之间达到力矩平衡，即电气制动力的大 小等于轿厢30和对重的重力差，接着轿厢30便会以此时的速度一直匀速移动下去，使得轿厢30能够以较缓慢的速度移动，从而便于后续利用电梯100的其他装置，例如电梯100的制动器50，来制停轿厢30，从而确保轿厢30和乘梯人员的安全。
本公开实施方式的控制方法首先驱动控制器42根据电机20的转速获取轿厢30的移动速度，当需要制动电梯100，且轿厢30的移动速度小于或等于预设封星阈值时，短接电机20的三相，以开启封星功能，产生电气制动力来制动轿厢30。如此，驱动控制器42可利用封星功能进行制动，以避免制动器50的刹车片过度损耗，同时由于封星功能是在移动速度小于或等于预设封星阈值时才开始启动，这样一方面可避免封星功能的长时间运行，从而尽量保证实现封星功能的器件的正常运行，另一方面可避免电机20和实现封星功能的器件中产生较大的冲击电流，从而可进一步确保电机20和实现封星功能的器件的正常运行。
请参阅图2和图4，在某些实施方式中，电梯100还包括制动器50，控制方法还包括：
步骤013：响应于电梯制动场景，在移动速度大于预设封星阈值的情况下，控制制动器50切换为制动状态，并断开电机20的电源。
具体地，请结合图3，控制设备40还可包括主控制器44，主控制器44可控制制动器50的工作状态并控制电机20的电源的开关状态。在电梯制动场景发生的情况下，响应于电梯制动场景，主控制器44和驱动控制器42都可获取轿厢30的移动速度。当移动速度大于预设封星阈值的情况下，为了避免产生较大的冲击电流，驱动控制器42不会开启封星功能，此时则需要主控制器44控制制动器50切换为制动状态，例如控制设备40还包括抱闸控制电路45，关断抱闸控制电路45可使得制动器50切换为制动状态，以通过抱闸方式进行制动，同时主控制器44会断开电机20的电源，以切断电机20的输出力矩，以避免电机20持续驱动轿厢30运行，并利用制动器50制动电梯100。
例如，在电梯100正常停梯或者紧急停梯时，轿厢30通常会从正常运行的速度降为零，而轿厢30正常运行的速度一般大于预设封星阈值。那么，在电梯100需要停梯的时候，控制设备40首先会通过主控制器44控制制动器50切换为制动状态，并断开电机20的电源，当制动器50的制动力大于轿厢30和对重的质量差时，轿厢30的速度会开始下降。在电梯100停梯的过程中，控制设备40还会实时获取轿厢30的移动速度，在轿厢30的移动速度小于或等于预设封星阈值的情况下，驱动控制器42便可短接电机20的三相，以开启封星功能。特别地，控制设备40还可包括电流检测电路46，在短接电机20的三相前，可利用电流检测电路46检测电机20中是否存在电流，只有在电机20的电源已断开，电机20中已不存在电流的时候才可短接电机20的三相，否则会造成短路的问题，导致电机20和可实现封星功能的器件容易损坏。
进一步地，主控制器44还可控制驱动控制器42进行工作，因此在电梯100停梯的过程中，主控制器44还可通过控制驱动控制器42短接电机20的三相，以开启封星功能。但是相比于驱动控制器42直接短接电机20的三相的方案，主控制器44通过控制驱动控制器42短接电机20的三相的方案中的流程更长，使得从主控制器44发出控制指令到电机20的三相短接完成之间的时间比驱动控制器42发出控制指令到电机20的三相短接完成之间的时间要长，控制效率也随之较低，因此，在实施路径上，直接通过驱动控制器42控制电机20的三相的短接是最优方案，此时的控制时间较短，且控制效率也较高。
如此，在电梯100停梯的过程中，可根据轿厢30的移动速度，确定轿厢30的制动方式，以一方面确保轿厢30能够完成停梯，另一方面避免在停梯过程中制动器50和可实现封星功能的器件长时间工作，并避免产生较大的冲击电流，从而确保制动器50和可实现封星功能的器件的设备安全。
请参阅图2和图5，在某些实施方式中，步骤012：响应于电梯制动场景，在移动速度小于或等于预设封星阈值的情况下，开启封星功能，以制动轿厢30，包括：
步骤0121：响应于电梯制动场景，在移动速度小于或等于预设封星阈值的情况下，控制制动器50切换为制动状态并断开电机20的电源；
步骤0122：在制动器50为制动状态且电源20断开的情况下，开启封星功能，以制动轿厢30。
具体地，请结合图3，响应于电梯制动场景，在移动速度小于或等于预设封星阈值的情况下，在开启封星功能前，主控制器44还可控制制动器50切换为制动状态，并断开电机20的电源，以切断电机20的输出力矩。在确定制动器50为制动状态且电源20断开的情况下，驱动控制器42便可短接电机20的三相，以开启封星功能。如此，控制设备40便可结合制动器50的制动力和封星功能的电气制动力来完成电梯100的制动，从而确保电梯100能够及时停梯，并确保乘梯人员的人身安全。
例如，电梯100在平层区域时，可能要实现再平层功能，由于主曳引钢丝绳过长自重与轿厢30载重力的影响，使其弹性伸长，就使本来平层的电梯100发生平层误差，轻了轿厢30就上升，重了轿厢30下降，而再平层功能则是在电梯100发生平层误差时将轿厢30移动到平层位置的功能。控制设备40还可包括轿厢意外移动监控电路47。在电梯100执行再平层功能的情况下，轿厢30的移动速度通常较小，且移动速度通常小于预设封星阈值。此时若发生电梯100意外移动，主控制器44可根据轿厢意外移动监控电路47锁定故障。在轿厢30脱开平层区域的情况下，主控制器44可发出关闸指令，及断开抱闸控制电路45，以控制制动器50切换为制动状态，同时断开电机20的电源，驱动控制器42在电机20的电源断开的时刻短接电机20的三相，以开启封星功能，从而在制动器50的制动力矩和电气制动力矩双重作用下，减少轿厢30意外移动的距离，提升轿厢30意外移动故障发生时的制停性能，同时也减少了制动器50的磨损，提升制动器50的寿命。
再例如，电梯100处于维护操作时，为了安全考虑可以设定维护期间电梯100的运行速度(下称检修速度)小于或等于封星功能开启下轿厢30的最大溜车速度，其中溜车指的是电梯100在失去电力驱动和控制的情况下，由于轿厢30与对重之间的质量差产生的位势能引起轿厢30(或对重)上升或下降的现象。封星功能开启下轿厢30的最大溜车速度需要在电梯100投入使用前进行检测，检测的时候需要使得轿厢30负重110％，然后将控制制动器50切换为制动状态并断开电机20的电源，在电机20的电源断开的那刻同时开启封星功能。在封星功能启动的情况下，最终产生的电气制动力的大小会与轿厢30和对重的重力差之间达到力矩平衡，即电气制动力的大小等于轿厢30和对重的重力差，接着轿厢30便会以此时的速度一直匀速移动下去，该速度即为封星功能开启下轿厢30的最大溜车速度。而预设封星阈值是封星最大力矩对应的最大速度，一般在电梯100运行过程中，封星功能产生的反向力矩是不会达到最大值的，因此，最大溜车速度一般会小于预设封星阈值。
由于制动器50建立制动力矩也需要时间，一般在100ms-300ms这段时间范围内，而若控制设备40使用封星电路41实现封星功能，那么电气制动力可在不超过20ms的时间内建立。那么在检修期间且在需要制动电梯100的时候，主控制器44可控制制动器50切换为制动状态并断开电机20的电源，驱动控制器42在电机20的电源断开的同时短接电机20的三相，以开启封星功能，从而减少了轿厢30在制动器50建立制动力矩的这段时间内轿厢30的失控情况，同时也减少制动器50和电梯100的曳引轮之间的相对磨损，从而在制动器50的制动力和电气制动力的双重作用下，达到提升制动器50的使用寿命的效果。特别地，制动力的建立需要时间，且制动力都是逐渐生成的，因此在制动力建立前以及建立初期，制动力的大小通常比轿厢30和对重的重力差要小，使得轿厢30有方向与原来的移动方向相同的加速度，使得轿厢30会有一定的加速阶段。
又例如，若制动器50在进行制动的过程中发生制动力矩减弱的现象，例如发生单制动臂失效的现象，使得制动器50难以实现快速制停。此时同样需要获取轿厢30的移动速度，在移动速度小于或等于预设封星阈值的情况下，驱动控制器42可开启封星功能，并保持制动器50的制动状态，使得在制动器50的制动力和电气制动力的双重作用下，可减少制动器50的磨损。特别地，在电梯100制停后，主控制器44可判断制动器50的制动力能力，以一方面避免在等待下一次制动力自监测的空档期造成安全隐患，另一方面主控制器44可根据制动器50的制动力能力来决定是否锁定故障，防止下一次更严重的制动力失效发生。
请参阅图2、图3和图6，在某些实施方式中，电梯100还包括封星电路41，步骤012：开启封星功能，包括：
步骤0123：控制封星电路41短接电机20的三相。
具体地，电梯100可根据封星电路41实现封星功能。在需要制动电梯100，且移动速度小于或等于预设封星阈值的情况下，驱动控制器42可控制封星电路41短接电机20的三相，以使得封星电路41产生电气制动力，并利用电气制动力制动电梯100。
例如，请结合图3，当安全电路43断开后，主控制器44会接收到安全电路43断开的信号，此时主控制器43会获取轿厢30的移动速度。在移动速度大于预设封星阈值的情况下，主控制器43可断开抱闸控制电路45，以使得制动器50切换为制动状态，并断开电机20的电源，从而一方面利用制动器50制动轿厢30，另一方面防止电机20继续驱动轿厢30移动。然后继续实时监控轿厢30的移动速度，在移动速度小于或等于预设封星阈值的情况下，主控制器43可通过电流检测电路46来确认电机20中是否存在电流，以再次确认电机20的电源是否已断开。在确认电机20的电源已经断开后，主控制器43可给驱动控制器42发出控制指令，以使得驱动控制器42控制封星电路41短接电机20的三相，从而启动封星功能，利用产生的电气制动力来制动轿厢30。
目前常规电梯电控设计在电梯的变频器与电机之间通过主接触器，或者变频器输入侧设计有主接触器和封星接触器来实现安全力矩关断和封星功能。但在使用过程中封星接触器的限制较多。一方面，封星接触器长时间运行后，会存在接触器本身触点的触点老化、腐蚀、氧化、噪音等等问题；另一方面，考虑到封星接触器的机械响应时间和线圈的特性，供电电压，浪涌吸收的特性之间有非常多的耦合因素，导致封星接触器的响应时间较长，一般在50ms-150ms之间，其中浪涌电流指电源接通瞬间，流入电源设备的峰值电流。因 此，在危险情况发生的时候，例如再平层过程中或者维修器件慢车运行的过程中，制动器50发生卡阻，使得制动器50无法产生制动力矩的时候，封星接触器无法在较短时间内开启封星功能，容易对乘梯人员带来安全隐患，例如由于重力的原因，在封星接触器的响应时间内，电梯100可能会快速掉落，导致容易对乘梯人员的人身安全造成一定的威胁。
而封星电路41中可以一方面避免接触器本身触电长期使用后带来的损坏问题和噪音问题，另一方面封星电路41采用电子电路工作，其响应时间不超过20ms，甚至可以更低，因此可大大缩小开启封星功能的响应时间，在危险情况发生的情况下，封星电路41能够快速地短接电机20的三相并产生电气制动力，从而提高电梯100的安全性能，尽量确保乘梯人员的人身安全。
请参阅图2、图3及图7，在某些实施方式中，在开启封星功能的情况下，控制方法还包括：
步骤014：获取封星电路41的电流和/或温度；及
步骤015：在电流大于预设电流阈值和/或温度大于预设温度阈值的情况下，控制封星电路41断开与电机20的三相的连接。
具体地，流动的电流可能会使得封星电路41升温，当封星电路41内的温度过高时，容易对封星电路41造成损坏。因此，驱动控制器42可根据封星电路41的电流、温度或同时根据封星电路41的电流和温度，确定封星电路41是否能够继续工作。首先可根据封星电路41的温度和内部元件的运行情况，确定封星电路41可持续工作时的温度的最大值，并将该温度确定为预设温度阈值。同时还可设置电流的预设电流阈值，例如封星电路41可设置在变频器内，可根据变频器的变频能力设置额定电流，并将额定电流的1.5倍设为预设电流阈值。
在一个实施例中，驱动控制器42根据封星电路41的电流确定封星电路41是否能够继续工作。具体地，在开启封星功能的情况下，驱动控制器42可实时获取封星电路41的电流，并将实时获取的电流与预设电流阈值进行比较。在电流大于预设电流阈值的情况下，驱动控制器42控制封星电路41断开与电机20的三相的连接。
在另一个实施例中，驱动控制器42根据封星电路41的温度确定封星电路41是否能够继续工作。具体地，在开启封星功能的情况下，驱动控制器42可实时获取封星电路41的温度，并将实时获取的温度与预设温度阈值进行比较。在温度大于预设温度阈值的情况下，驱动控制器42控制封星电路41断开与电机20的三相的连接。
在又一个实施例中，驱动控制器42根据封星电路41的电流和温度确定封星电路41是否能够继续工作。具体地，在开启封星功能的情况下，驱动控制器42可实时获取封星电路41的温度和电流，并将实时获取的温度与预设温度阈值进行比较，将实时获取的电流与预设电流阈值进行比较。在温度大于预设温度阈值且电流大于预设电流阈值的情况下，驱动控制器42控制封星电路41断开与电机20的三相的连接。
驱动控制器42可根据某一时刻的电流或温度来进行判断，当某时刻的电流大于预设电流阈值或者温度高于预设温度阈值，驱动控制器42可立即控制封星电路41断开与电机20的三相的连接。或者，驱动控制器42也可根据电流或温度超出对应的阈值的持续时间来进行判断，例如在电流大于预设电流阈值或者温度高于预设温度阈值，且超过对应的阈值的持续时间大于或等于预定时长的情况下，驱动控制器42会控制封星电路41断开与电 机20的三相的连接。
如此，驱动控制器42可实时监控封星电路41的电流和温度，在电流和/或温度超过对应的阈值的情况下，驱动控制器42可及时控制封星电路41断开与电机20的三相的连接，以避免封星电路41聚集过多的热能，从而确保封星电路41的安全。
请参阅图2及图8，在某些实施方式中，电梯100还包括编码器60，编码器60被配置为采集电机20的转速，控制方法还包括：
步骤016：在编码器60发生故障的情况下，开启封星功能，以制动轿厢30。
具体地，请结合图3，电梯100的编码器60可用于采集电机20的转速，驱动控制器42和主控制器44可根据编码器60采集的电机20的转速来获取轿厢30的移动速度，从而有针对性地确定制动电梯100的制动方法。
那么，在编码器60发生故障的情况下，主控制器44和驱动控制器42都无法获取轿厢30的移动速度，此时为了确保轿厢30的安全，可立即开启封星功能，以减小轿厢30的移动速度，使得轿厢30以较缓慢的移动速度进行溜车。同样地，在开启封星功能前，主控制器44还可控制制动器50切换为制动状态，并断开电机20的电源，然后在断开电机20的同时开启封星功能，从而使得电梯100在制动器50的制动力和电气制动力的双重作用下进行制动，以进一步确保乘梯人员的人身安全。
请参阅图2及图9，在某些实施方式中，控制方法还包括：
步骤017：每隔预设时长控制电梯100按预设工况运行，以根据电梯100的运行信息，确定封星功能完成制动的实际参数，运行信息至少包括移动速度；
步骤018：在实际参数和预设安全阈值的差值小于预设差值阈值的情况下，发出安全提示。
具体地，请结合图3，电梯100运行一段时间后，难免会出现器件老化的问题。因此，每隔预设时长，例如每隔24小时，主控制器44可控制电梯100按预设工况运行，其中预设工况可为电梯100负重110％或是空载，同时控制制动器50切换为制动状态，断开电机20的电源并开启封星功能。然后根据电梯100的运行信息，确定封星功能完成制动的实际参数，其中运行信息至少包括移动速度。然后根据实际参数和预设安全阈值进行比较，在实际参数和预设安全阈值的差值小于预设差值阈值的情况下，发出安全提示，以使得维修人员可及时对电梯100进行维修，确保电气制动性能的稳定性，从而避免电梯100以较低的运行性能进行运行，并给电梯100和乘梯人员带来安全隐患。
在一个实施例中，实际参数可为封星电路41的电流和封星溜车速度。在控制制动器50切换为制动状态，断开电机20的电源并开启封星功能的情况下，封星电路41产生的电气制动力和电梯100与对重之间的质量差之间总会达到力矩平衡，使得电梯100以力矩平衡后的封星溜车速度进行移动，但是封星溜车速度不可过高，过高的封星溜车速度会给电梯100和乘梯人员带来一定的安全隐患，因此可根据封星溜车速度设置一个预设安全阈值，例如3m/s。同样地，可根据电梯100在封星功能启动的情况下能够安全移动对应的电流设为封星电路41的电流的预设安全阈值。
在电梯100开始运行时，电梯100的封星溜车速度和封星电路41的电流肯定小于对应的预设安全阈值。在电梯100的器件老化的情况下，电梯100的封星溜车速度和封星电路41的电流可能会逐渐增大，并逐渐靠近预设安全阈值。当实际参数和预设安全阈值的 差值小于预设差值阈值的情况下，可确定此时电梯100的运行性能已经下降，电梯100继续运行下去可能会给电梯100和乘梯人员带来安全隐患。因此，此时主控制器44会发出安全提示。
例如，封星溜车速度的安全阈值为3m/s，预设差值阈值为0.3m/s。在电梯100刚开始投入使用时，电梯100的封星溜车速度较低，可能为2.3m/s，随着电梯100的使用，封星溜车速度可能会提高，例如升至2.5m/s，2.6m/s，当封星溜车速度达到2.7m/s时，主控制器44就会发出安全提示。
请再次参阅图1至图3，本公开实施方式的控制设备40可应用于电梯100，电梯100包括电机20和轿厢30，电机20和轿厢30连接，控制设备40包括驱动控制器42，驱动控制器42用于获取轿厢30的移动速度，移动速度与电机20的转速正相关；及响应于电梯制动场景，在移动速度小于或等于预设封星阈值的情况下，开启封星功能，以制动轿厢30，封星功能被配置为在电机20的三相被短接的情况下开启。
本公开实施方式的控制设备40首先根据电机20的转速获取轿厢30的移动速度，当需要制动电梯100，且轿厢30的移动速度小于或等于预设封星阈值时，短接电机20的三相，以开启封星功能，产生电气制动力来制动轿厢30。如此，可利用封星功能进行制动，以避免制动器50的刹车片过度损耗，同时由于封星功能是在移动速度小于或等于预设封星阈值时才开始启动，这样一方面可避免封星功能的长时间运行，从而尽量保证实现封星功能的器件的正常运行，另一方面可避免电机20和实现封星功能的器件中产生较大的冲击电流，从而可进一步确保电机20和实现封星功能的器件的正常运行。
请再次参阅图1至图3，本公开实施方式的电梯100包括电机20、轿厢30和上述任意一项实施方式所述的控制设备40。电机20和轿厢30连接。控制设备40包括驱动控制器42，驱动控制器42用于获取轿厢30的移动速度，移动速度与电机20的转速正相关；及响应于电梯制动场景，在移动速度小于或等于预设封星阈值的情况下，开启封星功能，以制动轿厢30，封星功能被配置为在电机20的三相被短接的情况下开启。
本公开实施方式的电梯100设有控制设备40，控制设备40首先根据电机20的转速获取轿厢30的移动速度，当需要制动电梯100，且轿厢30的移动速度小于或等于预设封星阈值时，短接电机20的三相，以开启封星功能，产生电气制动力来制动轿厢30。如此，可利用封星功能进行制动，以避免制动器50的刹车片过度损耗，同时由于封星功能是在移动速度小于或等于预设封星阈值时才开始启动，这样一方面可避免封星功能的长时间运行，从而尽量保证实现封星功能的器件的正常运行，另一方面可避免电机20和实现封星功能的器件中产生较大的冲击电流，从而可进一步确保电机20和实现封星功能的器件的正常运行。
请参阅图10，本公开实施方式还提供了一种非易失性计算机可读存储介质200，其上存储有计算机程序210，计算机程序210被处理器220执行的情况下，实现上述任意一种实施方式的控制方法的步骤，为了简洁，在此不再赘述。
请参阅图11，本公开实施方式还提供一种计算机程序产品300，计算机程序产品300包括计算机程序310，该计算机程序310被处理器320执行时实现上述任一实施方式的控制方法，为了简洁，在此不再赘述。
在本说明书的描述中，参考术语“某些实施方式”、“一个例子中”、“示例地”等的描 述意指结合实施方式或示例描述的具体特征、结构、材料或者特点包含于本公开的至少一个实施方式或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施方式或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施方式或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。
流程图中或在此以其他方式描述的任何过程或方法描述可以被理解为，表示包括一个或更多个用于实现特定逻辑功能或过程的步骤的可执行指令的代码的模块、片段或部分，并且本公开的优选实施方式的范围包括另外的实现，其中可以不按所示出或讨论的顺序，包括根据所涉及的功能按基本同时的方式或按相反的顺序，来执行功能，这应被本公开的实施例所属技术领域的技术人员所理解。
尽管上面已经示出和描述了本公开的实施方式，可以理解的是，上述实施方式是示例性的，不能理解为对本公开的限制，本领域的普通技术人员在本公开的范围内可以对上述实施方式进行变化、修改、替换和变型。

Claims (19)

  1. 一种电梯的控制方法，其中，所述电梯包括电机和轿厢，所述电机和所述轿厢连接，所述方法包括：
    获取所述轿厢的移动速度，所述移动速度与所述电机的转速正相关；及
    响应于电梯制动场景，在所述移动速度小于或等于预设封星阈值的情况下，开启封星功能，以制动所述轿厢，所述封星功能被配置为在所述电机的三相被短接的情况下开启。
  2. 根据权利要求1所述的控制方法，其中，所述电梯还包括制动器，所述方法还包括：
    响应于电梯制动场景，在所述移动速度大于预设封星阈值的情况下，控制所述制动器切换为制动状态，并断开所述电机的电源。
  3. 根据权利要求1所述的控制方法，其中，所述响应于电梯制动场景，在所述移动速度小于或等于预设封星阈值的情况下，开启封星功能，以制动所述轿厢，包括：
    响应于电梯制动场景，在所述移动速度小于或等于预设封星阈值的情况下，控制所述制动器切换为制动状态并断开所述电机的电源；
    在所述制动器为制动状态且所述电源断开的情况下，开启所述封星功能，以制动所述轿厢。
  4. 根据权利要求1-3任一项所述的控制方法，其中，所述电梯还包括安全电路，所述电梯制动场景包括所述安全电路断开、电梯维护、电梯正常或故障停梯和电梯意外移动中至少一种。
  5. 根据权利要求1所述的控制方法，其中，所述电梯还包括封星电路，所述开启封星功能包括：
    控制所述封星电路短接所述电机的三相。
  6. 根据权利要求1所述的控制方法，其中，所述电梯还包括封星电路，在开启所述封星功能的情况下，所述方法还包括：
    获取所述封星电路的电流和/或温度；及
    在所述电流大于预设电流阈值和/或所述温度大于预设温度阈值的情况下，控制所述封星电路断开与所述电机的三相的连接。
  7. 根据权利要求1所述的控制方法，其中，所述电梯还包括编码器，所述编码器被配置为采集所述电机的转速，所述方法还包括：
    在所述编码器发生故障的情况下，开启所述封星功能，以制动所述轿厢。
  8. 根据权利要求1所述的控制方法，其中，还包括：
    每隔预设时长控制所述电梯按预设工况运行，以根据所述电梯的运行信息，确定所述 封星功能完成制动的实际参数，所述运行信息至少包括所述移动速度；
    在所述实际参数和预设安全阈值的差值小于预设差值阈值的情况下，发出安全提示。
  9. 一种电梯的控制设备，其中，所述电梯包括电机和轿厢，所述电机和所述轿厢连接，所述控制设备包括：
    驱动控制器，所述驱动控制器用于获取所述轿厢的移动速度，所述移动速度与所述电机的转速正相关；及响应于电梯制动场景，在所述移动速度小于或等于预设封星阈值的情况下，开启封星功能，以制动所述轿厢，所述封星功能被配置为在所述电机的三相被短接的情况下开启。
  10. 根据权利要求9所述的控制设备，其中，所述电梯还包括制动器，所述控制设备还包括主控制器，所述主控制器用于响应于电梯制动场景，在所述移动速度大于预设封星阈值的情况下，控制所述制动器切换为制动状态，并断开所述电机的电源。
  11. 根据权利要求9所述的控制设备，其中，所述控制设备还包括主控制器，所述主控制器用于响应于电梯制动场景，在所述移动速度小于或等于预设封星阈值的情况下，控制所述制动器切换为制动状态并断开所述电机的电源；所述驱动控制器还用于在所述制动器为制动状态且所述电源断开的情况下，开启所述封星功能，以制动所述轿厢。
  12. 根据权利要求9-11任一项所述的控制设备，其中，所述控制设备还包括安全电路，所述电梯制动场景包括所述安全电路断开、电梯维护、电梯正常或故障停梯和电梯意外移动中至少一种。
  13. 根据权利要求9所述的控制设备，其中，所述控制设备还包括封星电路，所述驱动控制器还用于控制所述封星电路短接所述电机的三相。
  14. 根据权利要求9所述的控制设备，其中，所述控制设备还包括封星电路，所述驱动控制器还用于获取所述封星电路的电流和/或温度；及在所述电流大于预设电流阈值和/或所述温度大于预设温度阈值的情况下，控制所述封星电路断开与所述电机的三相的连接。
  15. 根据权利要求9所述的控制设备，其中，所述电梯还包括编码器，所述编码器被配置为采集所述电机的转速，所述驱动控制器还用于在所述编码器发生故障的情况下，开启所述封星功能，以制动所述轿厢。
  16. 根据权利要求9所述的控制设备，其中，所述控制设备还包括主控制器，所述主控制器还用于每隔预设时长控制所述电梯按预设工况运行，以根据所述电梯的运行信息，确定所述封星功能完成制动的实际参数，所述运行信息至少包括所述移动速度；在所述实际参数和预设安全阈值的差值小于预设差值阈值的情况下，发出安全提示。
  17. 一种电梯，其中，包括：
    电机；
    轿厢，所述电机和所述轿厢连接；及
    权利要求9-16任意一项所述的控制设备。
  18. 一种包含计算机程序的非易失性计算机可读存储介质，所述计算机程序被处理器执行时，使得所述处理器执行权利要求1-8任一项所述的控制方法。
  19. 一种计算机程序产品，包括计算机程序，其中，所述计算机程序被处理器执行时实现如权利要求1-8任一项所述的控制方法。
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