CN113852322A - Thermal protection control method, device and equipment for lifter and storage medium - Google Patents
Thermal protection control method, device and equipment for lifter and storage medium Download PDFInfo
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- CN113852322A CN113852322A CN202111168551.5A CN202111168551A CN113852322A CN 113852322 A CN113852322 A CN 113852322A CN 202111168551 A CN202111168551 A CN 202111168551A CN 113852322 A CN113852322 A CN 113852322A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
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Abstract
The invention belongs to the technical field of vehicles and discloses a thermal protection control method, device, equipment and storage medium for a lifter. The method comprises the following steps: monitoring the motor voltage, the motor speed and the environment temperature of the elevator motor; determining the temperature of the motor through a preset motor temperature mathematical model according to the voltage of the motor, the rotating speed of the motor and the ambient temperature, and determining a corresponding trigger threshold; and when the temperature of the motor is greater than or equal to the trigger threshold, limiting the elevator motor to execute preset motor action. Through the mode, when monitoring that the temperature of the motor is too high, the ECU limits execution to preset motor action, and since thermal protection is not realized through a disconnection loop, the anti-pinch trigger function is logically excluded, so that the safety problem that reverse rotation cannot be prevented from being pinched during triggering thermal protection is solved, and the hardware cost of the hardware thermal protector is saved.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a thermal protection control method, device, equipment and storage medium for an elevator.
Background
The existing one-key lifting (AP) style glass lifter motor adopts a hardware thermal protector (namely a bimetallic strip or PTC), the hardware thermal protector is serially connected in a loop to realize thermal protection by breaking the loop, and the thermal protection process of the bimetallic strip is as follows: when more current than usual flows, the temperature rise of the metal is deformed and disconnected, and when the temperature of the metal is reduced, the metal immediately acts and recovers. The thermal protection process of the PTC is: when a current larger than usual flows, the polymer expands due to heat generation, and a path through which the current flows is interrupted, so that only a small amount of current flows and a trip state occurs, and when the operation switch is turned off, the polymer cools down and returns.
Present prevent pressing from both sides reversal function is under the condition that control circuit switched on, at glass opening apart from door window top 4mm to 200mm within range, if glass rises the in-process and touches the object, ECU triggers to prevent pressing from both sides that function control riser motor reversal descends certain distance (rule requires more than or equal to 50mm), but ECU unable control motor drive glass descends and realizes preventing pressing from both sides reversal function during hardware hot protector triggers hot protection, and is visible, has the potential safety hazard. And the existing hardware thermal protector can not be compatible to adapt to various temperature environments, the continuous actuation performance of the lifter motor in high and low temperature environments is poor, the lifting endurance test has long pause period, and the working hours and equipment investment are large. The bimetallic strip has the defects of pitting corrosion, high current and the like when the current is switched on or off; the PTC has a problem that it does not return unless the power is turned off after a trip occurs.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a thermal protection control method, a device, equipment and a storage medium for a lifter, and aims to solve the technical problems that the existing hardware thermal protector realizes thermal protection by breaking a loop, and an ECU (electronic control unit) cannot control a motor-driven glass to descend during triggering thermal protection to realize an anti-pinch reverse rotation function.
In order to achieve the above object, the present invention provides a thermal protection control method for an elevator, the method comprising the steps of:
monitoring the motor voltage, the motor speed and the environment temperature of the elevator motor;
determining the temperature of the motor through a preset motor temperature mathematical model according to the motor voltage, the motor rotating speed and the environment temperature;
and when the temperature of the motor is greater than or equal to a trigger threshold value, limiting the elevator motor to execute a preset motor action.
Optionally, when the motor temperature is greater than or equal to a trigger threshold, before limiting the elevator motor to perform a preset motor action, the method further includes:
determining a motor limit temperature according to the motor voltage, the motor rotating speed and the environment temperature;
and determining a trigger threshold value according to the motor limit temperature and a preset circulating temperature, wherein the preset circulating temperature is preset according to the continuous actuation preset circulating times of the lifter.
Optionally, when the motor temperature is greater than or equal to a trigger threshold, after the elevator motor is restricted from performing a preset motor action, the method further includes:
acquiring current motor voltage, current motor rotating speed and current environment temperature;
obtaining the current motor temperature through the preset motor temperature mathematical model according to the current motor voltage, the current motor rotating speed and the current environment temperature;
and when the current motor temperature is less than or equal to a recovery threshold value, releasing the action limitation of the elevator motor.
Optionally, when the current motor temperature is less than or equal to a recovery threshold, before the removing the motion limit of the elevator motor, the method further includes:
and determining a recovery threshold value according to the motor limit temperature and a preset recovery temperature, wherein the preset recovery temperature is a temperature preset according to preset recovery time.
Optionally, determining the motor temperature according to the motor voltage, the motor speed and the environment temperature through a preset motor temperature mathematical model, including:
acquiring historical motor temperature corresponding to the previous monitoring period;
determining a temperature change value in a periodic interval according to the motor voltage, the motor rotating speed and the environment temperature based on a preset motor temperature mathematical model;
and determining the motor temperature according to the temperature change value and the historical motor temperature.
Optionally, determining a temperature variation value within a periodic interval according to the motor voltage, the motor speed and the environment temperature based on a preset motor temperature mathematical model, including:
determining the heating power of the motor according to the motor voltage and the motor rotating speed based on a preset motor temperature mathematical model;
obtaining a preset thermal resistance coefficient, and determining the heat dissipation power of the motor according to the preset thermal resistance coefficient, the historical temperature of the motor and the ambient temperature;
determining target power according to the heating power of the motor and the heat dissipation power of the motor;
acquiring a preset specific heat capacity coefficient;
and determining a temperature change value in a periodic interval according to the preset specific heat capacity coefficient and the target power.
Optionally, after determining the motor temperature through a preset motor temperature mathematical model according to the motor voltage, the motor speed, and the environment temperature, the method further includes:
when the temperature of the motor is greater than or equal to a trigger threshold value, detecting whether the lifter motor is in an anti-pinch reverse rotation state;
when the lifter motor is in an anti-pinch reverse rotation state, controlling the lifter motor to reverse according to a preset anti-pinch reverse rotation setting;
when the lifter reversely rotates and descends to a preset anti-pinch reverse rotation distance, controlling the lifter motor to stop actuating;
and when the lifting motor stops actuating, controlling the lifting motor to enter a thermal protection state for limiting the actuation of the motor.
Optionally, the method further comprises:
after a preset time interval in a flameout state, determining a target motor temperature through a preset motor temperature mathematical model according to the environment temperature;
comparing the target motor temperature with the environment temperature to obtain a first comparison result;
selecting a corresponding target temperature according to the first comparison result, and storing the target temperature as the estimated motor temperature;
when ignition is detected, acquiring the estimated motor temperature, and comparing the estimated motor temperature serving as the motor temperature of the current monitoring period with the trigger threshold to obtain a second comparison result;
and judging whether to control the elevator motor to enter a thermal protection state for limiting the motor to actuate according to the second comparison result.
Optionally, selecting a corresponding target temperature according to the first comparison result, and storing the target temperature as an estimated motor temperature, including:
and when the target motor temperature is higher than the environment temperature, storing the target motor temperature as the estimated motor temperature.
Optionally, selecting a corresponding target temperature according to the first comparison result, and storing the target temperature as an estimated motor temperature, including:
and when the target motor temperature is less than or equal to the environmental temperature, clearing the target motor temperature, and storing the current environmental temperature as the estimated motor temperature at the next ignition.
In addition, in order to achieve the above object, the present invention further provides an elevator thermal protection control device, including:
the monitoring module is used for monitoring the motor voltage, the motor rotating speed and the environment temperature of the lifter motor;
the calculation module is used for determining the temperature of the motor through a preset motor temperature mathematical model according to the voltage of the motor, the rotating speed of the motor and the environment temperature;
and the limiting module is used for limiting the elevator motor to execute preset motor action when the motor temperature is greater than or equal to a trigger threshold value. And when the current motor temperature is less than or equal to a recovery threshold value, releasing the action limitation of the elevator motor.
In addition, to achieve the above object, the present invention also provides an elevator thermal protection control apparatus including: a memory, a processor, and an elevator thermal protection control program stored on the memory and executable on the processor, the elevator thermal protection control program configured to implement an elevator thermal protection control method as described above.
In addition, to achieve the above object, the present invention further provides a storage medium having an elevator thermal protection control program stored thereon, wherein the elevator thermal protection control program, when executed by a processor, implements the elevator thermal protection control method as described above.
The method provided by the invention comprises the following steps: monitoring the motor voltage, the motor speed and the environment temperature of the elevator motor; determining the temperature of the motor through a preset motor temperature mathematical model according to the voltage of the motor, the rotating speed of the motor and the ambient temperature; and when the temperature of the motor is greater than or equal to the trigger threshold, limiting the elevator motor to execute preset motor action. Through the mode, the ECU limits the execution of the preset motor action when monitoring that the temperature of the motor is overhigh, and logically excludes the anti-pinch trigger function because the thermal protection is not realized by disconnecting a loop, and when the glass touches an object in the rising process, the ECU can still control the motor to drive the glass to descend so as to realize the anti-pinch reverse function, so that the safety problem that the anti-pinch reverse cannot be realized in the trigger thermal protection period is solved.
Drawings
Fig. 1 is a schematic structural diagram of an elevator thermal protection control device in a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating a thermal protection control method for an elevator according to a first embodiment of the present invention;
FIG. 3 is a schematic flow chart illustrating a thermal protection control method for an elevator according to a second embodiment of the present invention;
fig. 4 is a schematic flow chart illustrating a thermal protection control method for an elevator according to a third embodiment of the present invention;
FIG. 5 is a schematic flow chart illustrating a thermal protection control method for an elevator according to a fourth embodiment of the present invention;
FIG. 6 is a schematic diagram of a software thermal protection control logic according to an embodiment of the thermal protection control method for an elevator of the present invention;
FIG. 7 is a schematic diagram of the storage logic of the estimated temperature according to an embodiment of the thermal protection control method for an elevator of the present invention;
fig. 8 is a block diagram illustrating a thermal protection control apparatus for an elevator according to a first embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an elevator thermal protection control device in a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the thermal protection control apparatus of the elevator may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a Wireless interface (e.g., a Wireless-Fidelity (Wi-Fi) interface). The Memory 1005 may be a Random Access Memory (RAM) or a Non-Volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration shown in fig. 1 does not constitute a limitation of the thermal protection control device of the elevator, and may include more or fewer components than those shown, or some components in combination, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a storage medium, may include therein an operating system, a network communication module, a user interface module, and an elevator thermal protection control program.
In the thermal protection control apparatus for elevators shown in fig. 1, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the elevator thermal protection control apparatus according to the present invention may be provided in the elevator thermal protection control apparatus, and the elevator thermal protection control apparatus calls the elevator thermal protection control program stored in the memory 1005 through the processor 1001 and executes the elevator thermal protection control method according to the embodiment of the present invention.
An embodiment of the present invention provides a thermal protection control method for an elevator, and referring to fig. 2, fig. 2 is a schematic flow diagram of a first embodiment of the thermal protection control method for an elevator according to the present invention.
In this embodiment, the thermal protection control method for the lifter is applied to a vehicle-mounted computer, and includes the following steps:
step S10: the motor voltage, motor speed and ambient temperature of the elevator motor are monitored.
It can be understood that the execution main body of the embodiment is an on-board computer (ECU), and the ECU is connected with the lifter motor to monitor the lifter motor, determine the motor voltage and the motor speed applied to two ends of the lifter motor, and detect the ambient temperature through an ambient temperature sensor disposed on the vehicle.
It should be noted that a preset monitoring period is set in advance, the ECU monitors the operating parameters of the elevator motor according to the preset monitoring period, and it is assumed that the time interval of the preset monitoring period is Δ t, that is, the ECU monitors the motor voltage a, the motor speed B, and the ambient temperature C at the current time, and after the time Δ t, the ECU monitors the motor voltage a, the motor speed B, and the ambient temperature C again.
Step S20: and determining the temperature of the motor through a preset motor temperature mathematical model according to the motor voltage, the motor rotating speed and the environment temperature.
It can be understood that, alternatively, the motor heating temperature is converted into the motor heating temperature through a temperature conversion formula according to the motor voltage and the motor rotation speed, and the motor temperature is determined based on a heat dissipation formula according to the motor heating temperature and the ambient temperature. Optionally, the preset motor temperature mathematical model is represented by formula (1):
wherein, TkIs the motor temperature, Tk-1For the historical temperature of the motor corresponding to the previous monitoring period, U is the motor voltage, n is the motor speed, TaIs ambient temperature, HrTo preset thermal resistivity, HcAnd delta t is the period interval of a preset monitoring period for presetting the specific heat capacity coefficient.
Step S30: and when the temperature of the motor is greater than or equal to a trigger threshold value, limiting the elevator motor to execute a preset motor action.
It should be noted that the trigger threshold is a critical value for distinguishing whether the current motor temperature needs to start thermal protection, in an example, the trigger threshold is a high-temperature threshold determined according to an experiment, and preferably, in this embodiment, the trigger threshold is a high-temperature threshold set according to a preset number of cycles and a current ambient temperature. The preset motor acts as other motor actions except for the anti-pinch reverse action, and due to the fact that thermal protection is not achieved through a circuit breaking, when the glass touches an object in the rising process, the ECU can still control the motor to drive the glass to descend, and therefore the anti-pinch reverse function is achieved.
Further, after the step S20, the method further includes: when the temperature of the motor is greater than or equal to a trigger threshold value, detecting whether the window glass is in a trigger anti-pinch state or not; when the elevator is currently in the trigger anti-pinch state, controlling the elevator motor to actuate according to an anti-pinch reverse preset function; when the lifter reversely rotates and descends to the anti-pinch reverse rotation preset distance, the lifter motor is controlled to stop actuating. And when the lifting motor stops actuating, controlling the lifting motor to enter a thermal protection state for limiting the actuation of the motor.
It can be understood that, in the embodiment, before the software thermal protection is triggered, the motor is controlled to rotate reversely, so that the vehicle window descends for a certain distance, and the anti-pinch reverse rotation is realized.
The method provided by the embodiment comprises the following steps: monitoring the motor voltage, the motor speed and the environment temperature of the elevator motor; determining the temperature of the motor through a preset motor temperature mathematical model according to the voltage of the motor, the rotating speed of the motor and the ambient temperature; and when the temperature of the motor is greater than or equal to the trigger threshold, limiting the elevator motor to execute preset motor action. In this way, ECU when monitoring motor temperature too high, the restriction execution predetermines the motor action, because do not realize thermal protection through the broken circuit, it is except that the trigger action will prevent pressing from both sides in the logic, when glass bumps the object in-process that rises, thereby ECU still can control motor drive glass to descend and realize preventing pressing from both sides the reversal function, the safety problem that can't prevent pressing from both sides the reversal during trigger thermal protection has been solved, and this embodiment does not realize thermal protection through setting up hardware thermal protectors such as bimetallic strip or PTC, the hardware cost of hardware thermal protector has been practiced thrift, pitting has been avoided, the influence that hardware thermal protection inherent characteristics such as high current caused.
Referring to fig. 3, fig. 3 is a schematic flow chart of a thermal protection control method for an elevator according to a second embodiment of the present invention.
Based on the first embodiment, before the step S30, the thermal protection control method for an elevator in this embodiment further includes:
step S21: and determining the motor limit temperature according to the motor voltage, the motor rotating speed and the environment temperature.
In concrete realization, current hardware thermal protector can't compatible adaptation various temperature environment for the lifter motor is relatively poor at high low temperature environment continuous action performance, if go up and down durable experiment, the seasonal temperature influence is great, causes the experiment dwell period long, perhaps makes the environmental condition artificially, causes equipment to put into a big time.
It should be understood that the motor limit temperature is determined by equation (2) based on the motor voltage, the motor speed, and the ambient temperature:
wherein, U is motor voltage, omega is 2 pi n/60, n is motor speed, TaIs ambient temperature, HrThe thermal resistivity is preset.
Step S22: and determining a trigger threshold value according to the motor limit temperature and a preset circulating temperature, wherein the preset circulating temperature is preset according to the continuous actuation preset circulating times of the lifter.
In addition, the motor limit temperature T is usedmaxAnd a preset cycle temperature T0Determining a trigger threshold TlimThe method specifically comprises the following steps: t islim＝Tmax-T0Preset cycle temperature T0The temperature constant is preset according to the continuous action of the lifter, the preset cycle time can be set to 15 times, and the temperature increment corresponding to the cycle time of 15 times determined by experiments is set to be the preset cycle temperature T0And thereby guarantee that the riser motor can circulate 15 times at least, if the motor temperature is greater than or equal to the trigger threshold value after circulating 15 times, then restrict the motor action, and in this embodiment, confirm motor limit temperature according to current ambient temperature and motor operating parameter, thereby can guarantee that the riser motor can homoenergetic realize at least 15 times circulations under each temperature condition, avoided ambient temperature to the influence of riser circulation number of times, reduce the man-hour input of experiment and experimental facilities input.
Further, after the step S30, the method further includes:
step S301: and acquiring the current motor voltage, the current motor rotating speed and the current environment temperature.
Step S302: and obtaining the current motor temperature through the preset motor temperature mathematical model according to the current motor voltage, the current motor rotating speed and the current environment temperature.
Step S303: and when the current motor temperature is less than or equal to a recovery threshold value, releasing the action limitation of the elevator motor.
It can be understood that after the preset motor action is limited, the ECU continues to acquire the current motor voltage, the current motor speed and the current ambient temperature according to the preset monitoring period, and determines the current motor temperature according to the current motor voltage, the current motor speed and the current ambient temperature based on the preset motor temperature mathematical model, and if the current motor temperature is monitored to be less than or equal to the recovery threshold, the limitation is removed. The recovery threshold is a critical value for distinguishing whether the current motor temperature needs to be recovered from the motor limit, in one example, the recovery threshold is a low-temperature threshold determined by experiments, and preferably, in this embodiment, the recovery threshold is a low-temperature threshold set according to a preset recovery time and the current ambient temperature. Specifically, obtaining the current motor temperature through the preset motor temperature mathematical model according to the current motor voltage, the current motor speed and the current environment temperature includes: acquiring the temperature of the previous motor corresponding to the previous monitoring period; determining the current motor heating power according to the current motor voltage and the current motor rotating speed based on a preset motor temperature mathematical model; acquiring a preset thermal resistance coefficient; determining the current heat dissipation power of the motor according to a preset thermal resistance coefficient, the temperature of the previous motor and the current environment temperature; determining the current power according to the current motor heating power and the current motor heat dissipation power; acquiring a preset specific heat capacity coefficient; determining a current temperature change value in a periodic interval according to a preset specific heat capacity coefficient and the current power; and determining the current motor temperature according to the current temperature change value and the last motor temperature.
Further, before the step S303, the method further includes:
step S31: and determining a recovery threshold value according to the motor limit temperature and a preset recovery temperature, wherein the preset recovery temperature is a temperature preset according to preset recovery time.
In addition, the motor limit temperature T is usedmaxAnd a preset recovery temperature T1Determining a recovery threshold TrecThe method specifically comprises the following steps: t isrec＝Tmax-T1Preset recovery temperature T1The preset recovery time may be set to 15s for a preset temperature constant according to the preset recovery time, and the temperature decrement corresponding to the cooling of 15s is experimentally determined to be set to the preset recovery temperature T1So as to ensure that the elevator motor can recover function within 15s, if the current motor temperature within 15s of the cycle is less than or equal to the recovery threshold TrecThe motor motion limits are removed, and in particular implementations, the motor limit temperature T is reached due to the shorter time from limit to recovery of the elevator motormaxSet to the same value, in another example, upon determining the recovery threshold, the motor limit temperature T may be re-determined by equation (2) based on the current motor voltage, the current motor speed, and the current ambient temperature monitored at the current timemaxAnd according to Trec＝Tmax-T1Determining a recovery threshold Trec. In addition, in the embodiment, the limit temperature of the motor is determined according to the current environment temperature and the motor operation parameters, so that the elevator motor can be ensured to realize the function of recovering in 15s under each temperature condition, the influence of the environment temperature on the function of recovering the elevator is avoided, and the experimental work time investment and the experimental equipment investment are reduced.
In the embodiment, the voltage of the motor of the lifter motor, the rotating speed of the motor and the ambient temperature are monitored; determining the temperature of the motor through a preset motor temperature mathematical model according to the voltage of the motor, the rotating speed of the motor and the ambient temperature; determining the limit temperature of the motor according to the voltage of the motor, the rotating speed of the motor and the ambient temperature; determining a trigger threshold according to the motor limit temperature and a preset circulating temperature, wherein the preset circulating temperature is preset according to the continuous actuation preset circulating times of the lifter; when the temperature of the motor is greater than or equal to a trigger threshold value, limiting the elevator motor to execute a preset motor action; acquiring current motor voltage, current motor rotating speed and current environment temperature; obtaining the current motor temperature through a preset motor temperature mathematical model according to the current motor voltage, the current motor rotating speed and the current environment temperature; determining a recovery threshold value according to the motor limit temperature and a preset recovery temperature, wherein the preset recovery temperature is a temperature preset according to preset recovery time; when the current motor temperature is less than or equal to the recovery threshold, releasing the action limit of the lifter motor; in this way, when monitoring that the motor temperature is too high, the ECU restricts execution of preset motor action, when monitoring that the motor temperature is reduced to a recovery threshold value, action restriction is removed, because thermal protection is not realized through a broken loop, logically, the anti-pinch trigger function is excluded, when an object is touched in the glass rising process, the ECU can still control the motor to drive the glass to descend, so that the anti-pinch reversal function is realized, the safety problem that the anti-pinch reversal cannot be prevented during the trigger thermal protection period is solved, and in the embodiment, thermal protection is not realized through hardware thermal protectors such as a bimetallic strip or a PTC, the hardware cost of the hardware thermal protector is saved, and the influence caused by the inherent characteristics of hardware thermal protection such as pitting and high current is avoided. Confirm motor boundary temperature, trigger threshold value and recovery threshold value according to current ambient temperature and motor operating parameter to can guarantee that the riser motor can homoenergetic realize 15 cycles at least under each temperature condition, avoid ambient temperature to the influence of riser circulation number of times, reduce experimental man-hour input and experimental facilities input, guarantee that the riser motor can resume the action in 15s, avoided ambient temperature to lead to the riser to resume speed and reduce, guarantee riser motor operating stability.
Referring to fig. 4, fig. 4 is a schematic flow chart of a thermal protection control method for an elevator according to a third embodiment of the present invention.
Based on the first embodiment, after the step S20, the thermal protection control method for an elevator according to this embodiment further includes:
step S304: when the motor temperature is greater than or equal to the trigger threshold value, whether the lifter motor is in an anti-pinch reverse rotation state or not is detected.
It can be understood that the anti-pinch area of the window glass movement is 4 mm-200 mm of the lower edge of the sealing strip at the top of the window, the ECU of the embodiment can count the number of square wave pulse signals generated by the hall sensor through the internal clock to determine the current position of the window glass, and other modes can be adopted, which is not limited in the embodiment. Optionally, the elevator motor is determined to be in an anti-pinch reverse state when the current position of the window glass is in the anti-pinch region.
Step S305: when the lifter motor is in the anti-pinch reverse state, the lifter motor is controlled to set reverse according to preset anti-pinch reverse.
It should be noted that, if the motor temperature is greater than or equal to the trigger threshold and the motor is currently in the trigger anti-pinch reverse rotation state, the ECU sends a control command to the relay, so that the lifter motor performs a reverse rotation operation (i.e., a descending operation). And further, when the lifter is not in an anti-pinch reverse rotation state, controlling the lifter motor to enter a thermal protection state for limiting the motor to actuate.
Step S306: when the lifter reversely rotates and descends to the anti-pinch reverse rotation preset distance, the lifter motor is controlled to stop actuating.
It can be understood that the preset anti-pinch reverse rotation distance is a fixed amount, for example, the anti-pinch reverse rotation operation is monitored to be executed in an anti-pinch area, the motor executes reverse rotation, the reverse rotation distance is 50mm, and the control glass descends by 50 mm.
Step S307: and when the lifting motor stops actuating, controlling the lifting motor to enter a thermal protection state for limiting the actuation of the motor.
It should be noted that after the elevator motor enters the thermal protection state for limiting the motor to operate, the current motor voltage, the current motor speed and the current environment temperature of the elevator motor are continuously monitored, the current motor temperature is obtained through a preset motor temperature mathematical model, the current motor temperature is compared with a recovery threshold, and if the current motor temperature is less than or equal to the recovery threshold, the operation limitation of the elevator motor is removed.
In the embodiment, the voltage of the motor of the lifter motor, the rotating speed of the motor and the ambient temperature are monitored; determining the temperature of the motor through a preset motor temperature mathematical model according to the voltage of the motor, the rotating speed of the motor and the ambient temperature; when the temperature of the motor is greater than or equal to a trigger threshold value, detecting whether the elevator motor is in an anti-pinch reverse rotation state; when the lifter motor is in an anti-pinch reverse rotation state, controlling the lifter motor to reverse according to a preset anti-pinch reverse rotation setting; when the lifter reversely rotates and descends to a preset anti-pinch reverse rotation distance, controlling a lifter motor to stop actuating; when the lifting motor stops actuating, the lifting motor is controlled to enter a thermal protection state for limiting the actuation of the motor. In this way, ECU is when monitoring motor temperature too high, whether monitoring riser motor is in and prevents pressing from both sides reversal state, if, then control riser motor execution predetermines and prevent pressing from both sides reversal settlement, when window glass descends and predetermines the distance, control riser stops actuating, and get into the thermal protection state, thereby still can control motor drive glass to descend when ECU motor temperature is too high in this embodiment and realize preventing pressing from both sides reversal function, the safety problem of can't preventing pressing from both sides reversal during triggering thermal protection has been solved, and this embodiment does not realize thermal protection through setting up hardware thermal protection ware such as bimetallic strip or PTC, the hardware cost of hardware thermal protection ware has been practiced thrift, the pitting has been avoidd, the influence that hardware thermal protection inherent characteristics such as high current caused.
Referring to fig. 5, fig. 5 is a schematic flow chart of a thermal protection control method for an elevator according to a fourth embodiment of the present invention.
Based on the first embodiment, the step S20 of the thermal protection control method for an elevator in this embodiment includes:
step S201: and acquiring the historical temperature of the motor corresponding to the previous monitoring period.
It should be understood that the present embodiment monitors the motor temperature according to the preset monitoring period in a discrete form, and the motor temperature monitored in the current monitoring period is assumed to be TkThe historical temperature of the motor corresponding to the last monitoring period is Tk-1. In a specific implementation, in each monitoring period, the motor voltage, the motor speed and the ambient temperature of the elevator motor are monitored, the motor temperature, the trigger threshold and the recovery threshold are determined according to the motor voltage, the motor speed and the ambient temperature of the elevator motor, and the motor temperature, the trigger threshold and the recovery threshold determined in each monitoring period are stored in a preset storage area.
Step S202: and determining a temperature change value in a periodic interval according to the motor voltage, the motor rotating speed and the environment temperature based on a preset motor temperature mathematical model.
Further, the step S202 includes: determining the heating power of the motor according to the motor voltage and the motor rotating speed based on a preset motor temperature mathematical model; acquiring a preset thermal resistance coefficient; determining the heat dissipation power of the motor according to the preset thermal resistance coefficient, the historical temperature of the motor and the environment temperature; determining target power according to the heating power of the motor and the heat dissipation power of the motor; acquiring a preset specific heat capacity coefficient; and determining a temperature change value in a periodic interval according to the preset specific heat capacity coefficient and the target power.
It should be noted that the heating power of the motor is determined by formula (3) according to the motor voltage and the motor speed:
wherein Q is1The heating power of the motor is U, the voltage of the motor is U, and the rotating speed of the motor is n.
Determining the heat dissipation power of the motor according to a preset thermal resistance coefficient, the historical temperature of the motor and the ambient temperature through a formula (4):
wherein Q is2For the heat-dissipating power of the motor, Tk-1For the historical temperature of the motor, H, corresponding to the last monitoring periodrThe thermal resistivity is preset. The preset thermal resistance coefficient is a coefficient constant determined in advance according to experiments, is stored in a preset storage area, and is directly taken from the preset storage area when calculation is carried out through a preset motor temperature mathematical model.
Determining target power according to the heating power of the motor and the heat dissipation power of the motor through a formula (5):
Q＝Q1-Q2 (5)
wherein Q is the target power, Q1For the heating power of the motor, Q2And the heat dissipation power is dissipated for the motor.
Determining a temperature change value in a periodic interval through a formula (6) according to a preset specific heat capacity coefficient and a target power:
where T' is the temperature variation value in the periodic interval, Q is the target power, HcAnd delta t is the period interval of a preset monitoring period for presetting the specific heat capacity coefficient. The preset specific heat capacity coefficient is a coefficient constant determined in advance according to experiments, is stored in a preset storage area, and is directly taken from the preset storage area when calculation is carried out through a preset motor temperature mathematical model.
Step S203: and determining the motor temperature according to the temperature change value and the historical motor temperature.
It is understood that the motor temperature is determined by equation (7) according to the temperature variation value and the motor history temperature:
Tk＝Tk-1+T’ (7)
wherein, TkIs the motor temperature, Tk-1T' is the temperature change value in the period interval for the historical temperature of the motor corresponding to the last monitoring period.
Referring to fig. 6, fig. 6 is a schematic diagram of a software thermal protection control logic according to an embodiment of the thermal protection control method for the elevator of the present invention, wherein the ECU monitors the motor speed, the power supply voltage, and the ambient temperature in real time, calculates the temperature rise and the temperature drop based on the temperature model in real time, and determines whether the trigger condition or the recovery condition is met based on the threshold, and when the trigger condition is met, T is Tk≥TlimThe elevator motor is restricted from performing other motor actions other than anti-pinch reverse rotation, and when a recovery condition is reached, i.e. Tk≤TrecAnd the action limitation of the lifter motor is released.
Further, the method further comprises:
after a preset time interval in a flameout state, determining a target motor temperature through a preset motor temperature mathematical model according to the environment temperature; comparing the target motor temperature with the environment temperature to obtain a first comparison result; selecting a corresponding target temperature according to the first comparison result, and storing the target temperature as the estimated motor temperature; when ignition is detected, acquiring the estimated motor temperature, and comparing the estimated motor temperature serving as the motor temperature of the current monitoring period with the trigger threshold to obtain a second comparison result; and judging whether to control the elevator motor to enter a thermal protection state for limiting the motor to actuate according to the second comparison result.
It can be understood that the preset time interval is set to 45s according to actual conditions, in this embodiment, if the motor enters a flameout state after being powered on, an estimated motor temperature is stored, and when the motor is powered on next time, the stored estimated motor temperature is used as the motor temperature of the current monitoring period. The description is made in conjunction with formula (1):
under the flameout state, the motor voltage and the motor rotating speed are 0, and at the moment, the motor historical temperature T corresponding to the previous monitoring period is obtained according to the environment temperaturek-1Determining the motor temperature after each time interval by formula (1), the motor temperature of the elevator motor being at T in the stalled statek-1In order to decrease the initial temperature in a curve, after 45s, the motor temperature decreases to a certain value, i.e. the target motor temperature is obtained, the target motor temperature is compared with the ambient temperature, and whether the target motor temperature is greater than the ambient temperature is determined, specifically, the first comparison result includes: the target motor temperature is greater than the ambient temperature, and the target motor temperature is less than or equal to the ambient temperature. When the motor is actuated during the next ignition, the stored motor estimated temperature is used as the motor temperature of the current monitoring period, and if the motor temperature of the current monitoring period is smaller than the trigger threshold, the motor temperature is kept positiveAnd normally operating, and entering a thermal protection state if the motor temperature of the current monitoring period is greater than or equal to a trigger threshold value. If the motor does not enter the thermal protection state, the obtained estimated motor temperature is taken as T in the next monitoring periodk-1And calculating the motor temperature of the next monitoring period according to the environment temperature, the motor voltage monitored in real time and the motor rotating speed, and comparing the monitored motor temperature with a trigger threshold value in real time to determine whether to enter a thermal protection state.
Further, the selecting a corresponding target temperature according to the first comparison result, and storing the target temperature as the estimated motor temperature includes: and when the target motor temperature is higher than the environment temperature, storing the target motor temperature as the estimated motor temperature.
Further, the selecting a corresponding target temperature according to the first comparison result, and storing the target temperature as the estimated motor temperature includes: and when the target motor temperature is less than or equal to the environmental temperature, clearing the target motor temperature, and storing the current environmental temperature as the estimated motor temperature at the next ignition.
In a specific implementation, three working conditions are mainly included: the first is that after 45 seconds in IGN OFF state, if the environment temperature is less than the calculated target motor temperature and less than the trigger threshold, the calculated target motor temperature is stored as the motor estimated temperature, and when IGN is turned ON next time, the ECU calculates the motor temperature of each monitoring period from the stored motor estimated temperature. The second method is that after 45 seconds of IGN OFF state, if the calculated target motor temperature is less than or equal to the environmental temperature, the target motor temperature is cleared, and when IGN ON next time, the ECU starts calculating the motor temperature again from the next environmental temperature by the formula (1). And thirdly, after 45 seconds in the IGN OFF state, if the calculated target motor temperature is more than or equal to the trigger threshold, the higher target motor temperature is stored, when the IGN is turned ON next time, the ECU calculates the motor temperature from the stored motor estimated temperature, and the stored motor estimated temperature is too high, so that the motor directly enters a thermal protection state and cannot be actuated.
It should be noted that, referring to fig. 7, fig. 7 is a schematic diagram of the estimated temperature storage logic according to an embodiment of the thermal protection control method for the elevator of the present invention, where in fig. 7, the motor temperature gradually rises with the actuation of the motor, after the power is cut off for 45s, the ambient temperature is less than the target motor temperature and less than the trigger threshold, at this time, the calculated target motor temperature is stored as the estimated motor temperature, and when the next IGN is ON, the motor temperature gradually rises from the target motor temperature, so that the number of times of continuous actuation is reduced, and the number of cycles of triggering thermal protection by the passenger through flameout reset is avoided. If thermal protection is triggered in the IGN ON state, the estimated temperature of the motor is gradually reduced to 0 after the motor is placed for about 60 minutes.
In the embodiment, the voltage of the motor of the lifter motor, the rotating speed of the motor and the ambient temperature are monitored; acquiring historical motor temperature corresponding to the previous monitoring period; determining a temperature change value in a periodic interval according to the motor voltage, the motor rotating speed and the environment temperature based on a preset motor temperature mathematical model; determining the temperature of the motor according to the temperature change value and the historical temperature of the motor; and when the temperature of the motor is greater than or equal to the trigger threshold, limiting the elevator motor to execute preset motor action. In this way, the ECU monitors the motor temperature in each monitoring period, the motor temperature is determined according to the temperature change value and the historical motor temperature of the last monitoring period, when the motor temperature is monitored to be overhigh currently, the execution is limited to preset the motor action, the accuracy of the motor temperature is improved, because the thermal protection is not realized through a broken loop, the anti-pinch trigger function is logically excluded, the safety problem that the anti-pinch reverse rotation cannot be prevented during the trigger thermal protection period is solved, the hardware cost of a hardware thermal protector is saved, and the influence caused by the inherent characteristics of the hardware thermal protection such as pitting, high current and the like is avoided.
In addition, an embodiment of the present invention further provides a storage medium, where the storage medium stores an elevator thermal protection control program, and the elevator thermal protection control program, when executed by a processor, implements the elevator thermal protection control method described above.
Since the storage medium adopts all technical solutions of all the embodiments, at least all the beneficial effects brought by the technical solutions of the embodiments are achieved, and no further description is given here.
Referring to fig. 8, fig. 8 is a block diagram illustrating a thermal protection control apparatus for an elevator according to a first embodiment of the present invention.
As shown in fig. 8, the thermal protection control apparatus for an elevator according to an embodiment of the present invention includes:
and the monitoring module 10 is used for monitoring the motor voltage, the motor rotating speed and the environment temperature of the elevator motor.
And the calculation module 20 is used for determining the motor temperature through a preset motor temperature mathematical model according to the motor voltage, the motor rotating speed and the environment temperature.
And the limiting module 30 is used for limiting the elevator motor to execute a preset motor action when the motor temperature is greater than or equal to a trigger threshold.
It should be understood that the above is only an example, and the technical solution of the present invention is not limited in any way, and in a specific application, a person skilled in the art may set the technical solution as needed, and the present invention is not limited thereto.
In the embodiment, the voltage of the motor of the lifter motor, the rotating speed of the motor and the ambient temperature are monitored; determining the motor temperature, a trigger threshold and a recovery threshold through a preset motor temperature mathematical model according to the motor voltage, the motor rotating speed and the environment temperature; and when the temperature of the motor is greater than or equal to the trigger threshold, limiting the elevator motor to execute preset motor action. In this way, ECU when monitoring motor temperature too high, the restriction execution predetermines the motor action, because do not realize thermal protection through the broken circuit, it is except that the trigger action will prevent pressing from both sides in the logic, when glass bumps the object in-process that rises, thereby ECU still can control motor drive glass to descend and realize preventing pressing from both sides the reversal function, the safety problem that can't prevent pressing from both sides the reversal during trigger thermal protection has been solved, and this embodiment does not realize thermal protection through setting up hardware thermal protectors such as bimetallic strip or PTC, the hardware cost of hardware thermal protector has been practiced thrift, pitting has been avoided, the influence that hardware thermal protection inherent characteristics such as high current caused.
It should be noted that the above-described work flows are only exemplary, and do not limit the scope of the present invention, and in practical applications, a person skilled in the art may select some or all of them to achieve the purpose of the solution of the embodiment according to actual needs, and the present invention is not limited herein.
In addition, the technical details that are not described in detail in this embodiment can be referred to the thermal protection control method of the lifter provided in any embodiment of the present invention, and are not described herein again.
In an embodiment, the calculating module 20 is further configured to determine a motor limit temperature according to the motor voltage, the motor speed, and the ambient temperature; and determining a trigger threshold value according to the motor limit temperature and a preset circulating temperature, wherein the preset circulating temperature is the temperature collected when the lifter continuously actuates for a preset circulating time.
In one embodiment, the thermal protection control device of the lifter further comprises a restriction removal module;
the restriction removing module is used for acquiring the current motor voltage, the current motor rotating speed and the current environment temperature; obtaining the current motor temperature through the preset motor temperature mathematical model according to the current motor voltage, the current motor rotating speed and the current environment temperature; and when the current motor temperature is less than or equal to a recovery threshold value, releasing the action limitation of the elevator motor.
In an embodiment, the calculating module 20 is further configured to determine a recovery threshold according to the motor limit temperature and a preset recovery temperature, where the preset recovery temperature is a temperature preset according to a preset number of continuous actuation cycles of the elevator.
In an embodiment, the calculating module 20 is further configured to obtain a historical temperature of the motor corresponding to a previous monitoring period; determining a temperature change value in a periodic interval according to the motor voltage, the motor rotating speed and the environment temperature based on a preset motor temperature mathematical model; and determining the motor temperature according to the temperature change value and the historical motor temperature.
In an embodiment, the calculating module 20 is further configured to determine the heating power of the motor according to the motor voltage and the motor speed based on a preset motor temperature mathematical model; acquiring a preset thermal resistance coefficient; determining the heat dissipation power of the motor according to the preset thermal resistance coefficient, the historical temperature of the motor and the environment temperature; determining target power according to the heating power of the motor and the heat dissipation power of the motor; acquiring a preset specific heat capacity coefficient; and determining a temperature change value in a periodic interval according to the preset specific heat capacity coefficient and the target power.
In one embodiment, the thermal protection control device of the lifter further comprises an anti-pinch reverse module;
the anti-pinch reverse rotation module is used for detecting whether the lifter motor is in an anti-pinch reverse rotation state or not when the temperature of the motor is larger than or equal to a trigger threshold value; when the lifter motor is in an anti-pinch reverse rotation state, controlling the lifter motor to reverse according to a preset anti-pinch reverse rotation setting; when the lifter reversely rotates and descends to a preset anti-pinch reverse rotation distance, controlling the lifter motor to stop actuating; and when the lifting motor stops actuating, controlling the lifting motor to enter a thermal protection state for limiting the actuation of the motor.
In one embodiment, the thermal protection control device of the lifter further comprises a pre-storage module;
the pre-storage module is used for determining the target motor temperature through a preset motor temperature mathematical model according to the environment temperature after a preset time interval in a flameout state; comparing the target motor temperature with the environment temperature to obtain a first comparison result; selecting a corresponding target temperature according to the first comparison result, and storing the target temperature as the estimated motor temperature; when ignition is detected, acquiring the estimated motor temperature, and comparing the estimated motor temperature serving as the motor temperature of the current monitoring period with the trigger threshold to obtain a second comparison result; and judging whether to control the elevator motor to enter a thermal protection state for limiting the motor to actuate according to the second comparison result.
In an embodiment, the pre-storing module is further configured to store the target motor temperature as an estimated motor temperature when the target motor temperature is greater than the ambient temperature.
In an embodiment, the pre-storing module is further configured to clear the target motor temperature when the target motor temperature is less than or equal to the ambient temperature, and store the current ambient temperature as the estimated motor temperature at the next ignition.
Further, it is to be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention or portions thereof that contribute to the prior art may be embodied in the form of a software product, where the computer software product is stored in a storage medium (e.g. Read Only Memory (ROM)/RAM, magnetic disk, optical disk), and includes several instructions for enabling a terminal device (e.g. a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (13)
1. A thermal protection control method for an elevator, the thermal protection control method comprising:
monitoring the motor voltage, the motor speed and the environment temperature of the elevator motor;
determining the temperature of the motor through a preset motor temperature mathematical model according to the motor voltage, the motor rotating speed and the environment temperature;
and when the temperature of the motor is greater than or equal to a trigger threshold value, limiting the elevator motor to execute a preset motor action.
2. The elevator thermal protection control method of claim 1, wherein before limiting the elevator motor to perform a preset motor action when the motor temperature is greater than or equal to a trigger threshold, the method further comprises:
determining a motor limit temperature according to the motor voltage, the motor rotating speed and the environment temperature;
and determining a trigger threshold value according to the motor limit temperature and a preset circulating temperature, wherein the preset circulating temperature is preset according to the continuous actuation preset circulating times of the lifter.
3. The elevator thermal protection control method of claim 2, wherein after limiting the elevator motor to perform a preset motor action when the motor temperature is greater than or equal to a trigger threshold, the method further comprises:
acquiring current motor voltage, current motor rotating speed and current environment temperature;
obtaining the current motor temperature through the preset motor temperature mathematical model according to the current motor voltage, the current motor rotating speed and the current environment temperature;
and when the current motor temperature is less than or equal to a recovery threshold value, releasing the action limitation of the elevator motor.
4. The elevator thermal protection control method of claim 3, wherein before releasing the motion limit of the elevator motor when the current motor temperature is less than or equal to a recovery threshold, the method further comprises:
and determining a recovery threshold value according to the motor limit temperature and a preset recovery temperature, wherein the preset recovery temperature is a temperature preset according to preset recovery time.
5. The thermal protection control method of an elevator according to claim 1, wherein determining a motor temperature from the motor voltage, the motor speed, and the ambient temperature via a preset motor temperature mathematical model comprises:
acquiring historical motor temperature corresponding to the previous monitoring period;
determining a temperature change value in a periodic interval according to the motor voltage, the motor rotating speed and the environment temperature based on a preset motor temperature mathematical model;
and determining the motor temperature according to the temperature change value and the historical motor temperature.
6. The elevator thermal protection control method of claim 5, wherein determining a temperature variation value within a periodic interval based on a preset motor temperature mathematical model from the motor voltage, the motor speed, and the ambient temperature comprises:
determining the heating power of the motor according to the motor voltage and the motor rotating speed based on a preset motor temperature mathematical model;
obtaining a preset thermal resistance coefficient, and determining the heat dissipation power of the motor according to the preset thermal resistance coefficient, the historical temperature of the motor and the ambient temperature;
determining target power according to the heating power of the motor and the heat dissipation power of the motor;
acquiring a preset specific heat capacity coefficient;
and determining a temperature change value in a periodic interval according to the preset specific heat capacity coefficient and the target power.
7. The elevator thermal protection control method according to any one of claims 1-6, wherein after determining a motor temperature from the motor voltage, the motor speed, and the ambient temperature through a preset motor temperature mathematical model, the method further comprises:
when the temperature of the motor is greater than or equal to a trigger threshold value, detecting whether the lifter motor is in an anti-pinch reverse rotation state;
when the lifter motor is in an anti-pinch reverse rotation state, controlling the lifter motor to reverse according to a preset anti-pinch reverse rotation setting;
when the lifter reversely rotates and descends to a preset anti-pinch reverse rotation distance, controlling the lifter motor to stop actuating;
and when the lifting motor stops actuating, controlling the lifting motor to enter a thermal protection state for limiting the actuation of the motor.
8. The elevator thermal protection control method of any one of claims 1-6, further comprising:
after a preset time interval in a flameout state, determining a target motor temperature through a preset motor temperature mathematical model according to the environment temperature;
comparing the target motor temperature with the environment temperature to obtain a first comparison result;
selecting a corresponding target temperature according to the first comparison result, and storing the target temperature as the estimated motor temperature;
when ignition is detected, acquiring the estimated motor temperature, and comparing the estimated motor temperature serving as the motor temperature of the current monitoring period with the trigger threshold to obtain a second comparison result;
and judging whether to control the elevator motor to enter a thermal protection state for limiting the motor to actuate according to the second comparison result.
9. The thermal protection control method of an elevator according to claim 8, wherein selecting a corresponding target temperature according to the first comparison result and storing the target temperature as a motor estimated temperature comprises:
and when the target motor temperature is higher than the environment temperature, storing the target motor temperature as the estimated motor temperature.
10. The thermal protection control method of an elevator according to claim 8, wherein selecting a corresponding target temperature according to the first comparison result and storing the target temperature as a motor estimated temperature comprises:
and when the target motor temperature is less than or equal to the environmental temperature, clearing the target motor temperature, and storing the current environmental temperature as the estimated motor temperature at the next ignition.
11. An elevator thermal protection control device, comprising:
the monitoring module is used for monitoring the motor voltage, the motor rotating speed and the environment temperature of the lifter motor;
the calculation module is used for determining the temperature of the motor through a preset motor temperature mathematical model according to the voltage of the motor, the rotating speed of the motor and the environment temperature;
and the limiting module is used for limiting the elevator motor to execute preset motor action when the motor temperature is greater than or equal to a trigger threshold value.
12. An elevator thermal protection control apparatus, the apparatus comprising: a memory, a processor, and an elevator thermal protection control program stored on the memory and executable on the processor, the elevator thermal protection control program configured to implement an elevator thermal protection control method as claimed in any one of claims 1 to 10.
13. A storage medium having stored thereon an elevator thermal protection control program which, when executed by a processor, implements an elevator thermal protection control method according to any one of claims 1 to 10.
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