CN100372752C

CN100372752C - Elevator control device

Info

Publication number: CN100372752C
Application number: CNB028227816A
Authority: CN
Inventors: 安江正德
Original assignee: Mitsubishi Electric Corp
Current assignee: Mitsubishi Electric Corp
Priority date: 2002-09-11
Filing date: 2002-09-11
Publication date: 2008-03-05
Anticipated expiration: 2022-09-11
Also published as: WO2004024609A1; KR20040083056A; CN1589225A; JP4288236B2; KR100619616B1; EP1538121B1; EP1538121A4; EP1538121A1; JPWO2004024609A1

Abstract

The present invention relates to an elevator control device. Separated steel cables are clamped on a cage (2) and are wound on a plurality of hoisters (9) upward oppositely arranged to drive the cage to rise and fall. The present invention is characterized in that the tension of the steel cables (13) in the static state before the cage (2) is started is detected to increase or decrease the output of the corresponding hoisters (9) according to detected values to drive the cage (2) to rise and fall. Therefore, even if load is lopsidedly put on the cage (2) to cause the different tension of the steel cables, the hoisters (9) can still drive the cage (2) with corresponding output and the cage (2) can not be sloped.

Description

Elevator control gear

Technical field

The present invention relates to utilize a plurality of winchs that car is carried out the elevator control device that lifting drives.

Background technology

Elevator is in the past driven car by 1 winch, thereby along with the increase of loading load, the capacity of winch increases.Therefore, large-scale elevator needs large-scale winch, and it is installed needs high-capacity hoisting crane.

For this reason, such as, Japanese patent laid-open 6-64863 communique has disclosed pulley has been set on car, main push-towing rope is scrolled up on this pulley, with 2 structures that drive of small-sized winch.

Figure 17 is the identical content of structure that is disclosed with above-mentioned Japanese patent laid-open 6-64863 communique, traditional elevator that expression is driven car by 2 winchs.

That is, pulley 201 is installed on the car 2, and main push-towing rope 13 scrolls up on this pulley 201, is fixed in

counterweight

17L, 17R after being wound on

winch

9L, 9R downwards.Each

winch

9L, 9R are the equivalents that is made of rope sheave 10L, the 10R of same size,

drg

11L, 11R, electrical motor 12L, 12R.And symbol 202,203L, 203R, 204L and 204R are the pulleys of guiding main push-towing rope 13.

By using 2

winch

9L, 9R, can make the winch miniaturization, in case produce velocity contrast between each

winch

9L, 9R simultaneously, then pulley 201 rotates, and can make the moment of torsion equalization of burden between

winch

9L, 9R all the time.

But, shown in the long and short dash line of Figure 17, suppose pulley 201 by which kind of reason is rotated toward the clockwise direction, then main push-towing rope 13 is delivered to winch 9L side from winch 9R sidesway.By the handover of this main push-towing rope 13, the counterweight 17R that is suspended on the winch 9R is sling, and the counterweight 17L that is suspended on the winch 9L is hung down, becomes the state shown in symbol 17L ', the 17R '.With after car 2 risings, counterweight 17L ' interferes with the lift well bottom under this state.In addition, after car 2 declines, counterweight 17R ' interferes with the lift well top ceiling.

That is, in case pulley 201 rotates, then main push-towing rope 13 is transferred, and car 2 changes with the relative position relation of

counterweight

17L, 17R, has the such problem of lifting travel reduction of car 2.

In addition,

drg

11L, 11R are safety devices of paramount importance, because of its importance is used the occasion of 2

winch

9L, 9R, preferably when at least one side's drg 11L or 11R action, car 2 are stopped.

But, among Figure 17,, then can't make car 2 stop such problem if also exist both sides' drg 11L, 11R to be failure to actuate.

In addition, disclosed a kind of structure in the Japanese patent laid-open 7-25553 communique, that is, detected by the anglec of rotation to pulley 201, to the speed command input side feedback of 1

electrical motor

12L or 12R, the relative position deviation that makes main push-towing rope 13 is zero.Therefore, adopt this structure, can make the moment of torsion between

winch

9L, 9R share equalization, prevent the relative position deviation of main push-towing rope 13 simultaneously, the position relation of car 2 and

counterweight

17L, 17R is remained on normal state.

But, in this structure, car 2 is suspended on the main push-towing rope 13 by pulley 201, and the structure that is disclosed in this point and the Japanese patent laid-open 6-64863 communique does not change, thereby have either party drg 11L or the 11R occasion of being failure to actuate, can't make car 2 stop such problem equally.

The object of the present invention is to provide a kind of elevator control device, by car being driven with a plurality of winchs, realize in the elevator of winch miniaturization, can address the above problem, can prevent simultaneously the occasion that the relative position deviation of the relative position deviation of the main push-towing rope that each winch produces or main push-towing rope takes place in advance, can stably make car carry out lifting through revising.

Summary of the invention

The invention provides a kind of elevator control device, blocking only main push-towing rope along a plurality of positions of the car that carries out lifting in the lift well separately and it is being wound on the upwards corresponding a plurality of winchs that are provided with, to drive described car lifting, it is characterized in that, utilize tension detector that the tension force of described each main push-towing rope under the described car quiescence is individually detected, individually make the output increase and decrease of cooresponding described winch according to this detected value, thereby drive described car lifting.Therefore, even load is offset to car and main push-towing rope tension force is had nothing in common with each other at each main push-towing rope fixed part, winch also drives car with corresponding output power, thereby can prevent relatively moving of each main push-towing rope, avoids car generation abnormal dip.

In addition, according to the present invention, add up under the prestarting car quiescence each main push-towing rope fixed part being detected the described tension force that obtains, this accumulated value is as the load-carrying in the car, such as, calculate degree of mixing in the car from this load-carrying.Thereby, do not need to be provided with in addition the detector that detects load-carrying.

Description of drawings

Fig. 1 is the overall perspective view that comprises elevator control device of expression embodiments of the invention 1.

Fig. 2 is the diagram of block of the same electric loop of expression.

Fig. 3 is the longitudinal section of the main portion of the same tension detector 21 of expression.

Fig. 4 is the explanation figure of the operating state of the same tension detector 21 of expression.

Fig. 5 is the block diagram of the same

car position detector

35,41 of expression.

Fig. 6 is the front view of the car 2 when representing the same arrival floor ground.

Fig. 7 is the front view of the car 2 when representing the same arrival floor ground.

Fig. 8 is that the same call answering of expression explanation usefulness operating and the speed command Vo that Distance Remaining is complementary is schemed.

Fig. 9 is that the explanation of the operating speed command LVo that is complementary with Distance Remaining of the same ground of expression alignment is with figure.

Figure 10 is the diagram of circuit of the action of the same call answering operation of expression.

Figure 11 is the diagram of circuit of expression with the action of upper ground surface alignment operation.

Figure 12 is the diagram of block of electric loop of the elevator control gear of expression embodiments of the invention 2.

Figure 13 is the block diagram of the car position detector 41 of expression embodiments of the invention 2.

Figure 14 schemes the explanation usefulness of speed command Vdo speed command Vao and Distance Remaining the operating time of call answering of expression embodiments of the invention 2.

Figure 15 is the diagram of circuit of action of the call answering operation of expression embodiments of the invention 2.

Figure 16 is the elevator single-piece block diagram of expression embodiments of the invention 3.

Figure 17 is the concept map of the traditional elevator with a plurality of winchs of expression.

The specific embodiment

Below, the present invention is described in detail with reference to accompanying drawing.But, same or cooresponding part is put on prosign among each figure, and suitable simplification or omission are carried out in repeat specification.

In addition, among the following embodiment, elevator has the structure of 2 winchs about being, belong to the Japanese Patent spy and open the control of the similar elevator of the elevator that discloses in the 2001-261257 communique, the member in relevant left side is put on " L ", relevant right side in the back of symbol member the back of symbol put on " R ", to about do not make any distinction between occasion unified and omit " L " and reach " R ".

Embodiment 1

Fig. 1 to Figure 11 is the expression embodiment 1 with elevator control device of a plurality of winchs of the present invention.This

embodiment

1,2 winchs specially are set at the top of lift well, will the follow floor to the purpose floor as the target lifting distance, jointly give to each winch, with with the speed that is complementary to the Distance Remaining of purpose floor from the present position, each winch is individually controlled.

Fig. 1 is an expression elevator control device single-piece block diagram.Among the figure, the 1st, lift well, the 2nd, car, the 3rd, car ground, the 4th, the lower frame on supporting car ground 3, the 5th, the upright vertical frame of being located at the left and right sides of car 2, the 6th, be horizontally set with the upper ledge on car 2.The 7th, a pair of car guide rail of the lift well sidewall of the fixing upright both sides of being located at car 2, the 8th, the weight guide of the lift well sidewall at the fixing upright back side of being located at car 2, the two pairs of weight guides 8 about be arranged side by side respectively.The 9th, a pair of winch that the top in lift well 1 mutually is provided with about isolator, drg of braking by rope sheave 10, to this rope sheave 10 11 and the electrical motor 12 that drives rope sheave 10 constitute.The 13rd, the pair of right and left main push-towing rope of the lower frame 4 that be wound on the rope sheave 10, an end is fixed in car 2, the 14th, each main push-towing rope 13 is guided into the deflector sheave of

car

2,15 are mounted in the shank of the end of each main push-towing rope 13, the 16th, be clipped in the shank spring between lower frame 4 and each shank 15, the 17th, be fixed in the counterweight of the other end of each main push-towing rope 13, about being arranged on split typely.The 18th, the floor ground that car 2 arrives, the 19th, control the control panel of each winch 9.The 35th, length direction is installed in pair of right and left careen grid on the car guide rail 7 towards above-below direction, shown in the details drawing of Fig. 5, form grooving.The 41st, the optical sensor of コ font is installed in opening on the lower frame 4 of car about 2 towards the lift well sidewall, utilizes Swam to be inserted in the interruption light output pulse signal of the careen grid 35 in the described opening.Careen grid 35 and optical sensor 41 have the function as car position detector.

But, counterweight 17, usually weight is set at 40%～60% load of payload ratings, just in time is balance with putting when the car 2.Here, the load-carrying with 50% is as balance, and payload ratings is Wf, to about winch 9 act on equably, 10 effects of each rope sheave have the load torque based on unbalance load Wf/4.Therefore, the occasion that either party drg 11 is failure to actuate, unbalance load concentrates on the opposing party's drg 11.Therefore, act on the opposing party's drg 11 based on the load torque of unbalance load (Wf/4) * 2, but drg 11 is set to: produce the state of 250%～300% brake torque of load torque that regular unbalance load Wf/4 causes, thereby can make the car 2 of payload ratings Wf static with 1 drg 11.

Fig. 2 is the electric loop diagram of block of expression elevator control device.Among the figure, 21 are mounted in the tension detector following, that detect by the tension force that shank spring 16 flexible is detected to each main push-towing rope 13 of the lower frame 4 of car 2, in detail as shown in Figure 3.The 51st, cage operating panel, 52 are mounted in and take advantage of Room button on each floor ground 18.The 53rd, send the coder of impulse singla along with the rotation of each winch 9.

The 60th, operation management apparatus comprises: with cage operating panel 51 and the calling login loop 60a that takes advantage of the calling of Room button 52 to login; The lifting distance of near purpose floor carries out the target lifting distance operational loop 60b of computing as target lifting distance Do; Send the operating instruction loop 60c of the operating instruction that goes to the purpose floor; Send aligned instruction loop, the ground 60e of ground alignment operating instruction; Under the quiescence of prestarting car 2, thereby the tension force of each main push-towing rope 13 car internal burden of calculating the load in the car 2 that adds up is detected loop 60f.

61L is shown in the part that the long and short dash line among the figure impales, and the relevant equipment of lifting in expression and the left side of

car

2,61R are represented the equipment of lifting on the right side of relevant car 2 equally.Two kinds of

equipment

61L, 61R are same device structures, below, both are not done difference unify explanation.The 62nd, according to the instruction of operating instruction loop 60c or aligned instruction loop, ground 60e and closure, from the operation contact of power converter 77 to electrical motor 12 supply capabilities.The 63rd, come the car speed Vm of car 2 is carried out the car speed arithmetical device of computing from the generation number of unit time of the impulse singla of coder 53.The 64th, to car speed Vm carry out integration, the follow floor is carried out the lifting distance arithmetic and logic unit of computing to the lifting distance Dm of the present position of car 2.

The 65th, from target lifting distance Do, deduct lifting distance Dm, subtracter to carrying out computing to the Distance Remaining Dr of purpose floor, the 66th, the positioner of the speed command Vo that output is complementary with Distance Remaining Dr, speed command Vo in detail as shown in Figure 8.The 67th, face the instruction splicing ear b of neat instruction loop 60e, the switch of c according to instruction splicing ear a, c, the stronghold of operating instruction loop 60c.The 68th, the subtracter that the velocity contrast of speed command Vo and car speed Vm is carried out computing, the 69th, the speed controller of the torque command To that output and velocity contrast are complementary.

The 71st, splicing ear b before car 2 startings, c, splicing ear a in closure operation contact 62, the switch of c, the 72nd, the tension force of the main push-towing rope 13 under the quiescence when being about to start by tension detector 21 is detected, static torque T s is carried out the static moment of torsion arithmetic and logic unit of computing, the 73rd, with the adder of static torque T s and torque command To addition, the 74th, by switch 71, load torque Tm is carried out the load torque arithmetic and logic unit of computing from the tension force of main push-towing rope 13, the 75th, the subtracter that the difference in torque of the additive value of torque command To and static torque T s and load torque Tm is carried out computing, the 76th, the torque controller of the current-order Io that output and difference in torque are complementary, the 77th, according to current-order Io and outgoing current, to the power converter of electrical motor 12 supply capabilities, the 78th, the current transformer that the outgoing current from power converter 77 is detected.

The 79th, ground aligned region register records up and down ground aligned region LZU and the LZD that are set in floor ground 18, ground aligned region LZU and LZD in detail as shown in Figure 5.The 80th, the car position arithmetic and logic unit that the impulse singla of optical sensor 41 is counted, car position LDm carried out computing, the 81st, with deduct car position LDm among ground aligned region LZU or the LZD, to carry out the subtracter of computing to the Distance Remaining LDr of floor ground 18, the 82nd, the ground of the speed command LVo that output is complementary with the Distance Remaining LDr controller that aligns, speed command LVo in detail as shown in Figure 9.

The 85th, with about the lifting distance comparator that compares of the lifting distance Dm of winch 9, the 86th, about the current comparator that compares by 78 inputs of each current transformer, to two current values of the current value of winch 9, the 87th, safety return circuit, when the difference of the lifting distance Dm that obtains when lifting distance comparator 85 has surpassed specified value or the difference of the current value that obtains of current comparator 86 when having surpassed specified value, the winch 9 about making stops.

Fig. 3 is the longitudinal section of the main portion of expression tension detector 21.Main push-towing rope 13 uses many respectively about usually, but is situation about detecting as the tension force to 1 main push-towing rope 13 here.The 22nd, the volume core, the 23rd, be wound on the primary winding of the central portion of

core

22,24 and 25 be at primary winding 23 both sides, be wound on the secondary winding on the core 22, connect mutually differentially.The 26th, Swam is inserted in the movable core in the volume core 22, is fixed in shank 15 by support 27, moves up and down with the flexible of shank spring 16.That is, tension detector 21 is made of differential transformer, and primary winding 23 is connected with the source of AC 28 of voltage e1, and voltage e2a, e2b are respectively to

secondary winding

24,25 outputs.Both voltage difference eo=e2a-e2b are to lead-out terminal 29 outputs, voltage difference eo=0 when movable core 26 is positioned at the center of rolling up core 22.

Being set as follows of tension detector 21.At first, under the car 2 non-loaded states to about the tension force of main push-towing rope 13 carry out instrumentation.Position to the movable core of left and right sides both sides' tension detector 21 is set, and is " 0 " so that any little side's tension force is made the output eo of time spent.Therefore, the output eo of tension detector 21 be the tension force of any little side in the main push-towing rope 13 about when non-loaded as benchmark, become and the proportional value of the difference of this value.

Fig. 4 is the operating state of expression mentioned strain detector 21.That is, tension detector 21 be installed in car 2 about, respectively self contained function becomes output eoL, eoR.The occasion that car 2 is static according to above-mentioned output eoL, eoR, is carried out computing by each static moment of torsion arithmetic and

logic unit

72L, 72R to static torque T sL, TsR.

As shown in the figure, suppose that passenger 2a concentrates to take advantage of that then the tension force of the main push-towing rope 13R on right side is greater than the main push-towing rope 13L in left side on the right side.Therefore, the shank spring 16R on right side is subjected to bigger compression, and the value specific output eoL of output eoR is big, and static torque T sR is also identical.

Fig. 5 is the block diagram of the car position detector that is made of careen grid 35 and optical sensor 41 of expression, with length on the careen grid 35 of above-below direction, stamp out grooving 36 with certain pitch d, simultaneously be formed with from the center, the arrival floor ground region of equidimension LU, LD excision up and down is with notch part 37 in a side.The 38th, be used for careen grid 35 is installed on support on the car guide rail 7.

At the medial surface of body one side's of optical sensor 41 arm, be separated by predetermined distance ground upper and lower

settings guide lamp

42p, 43p install guide lamp 44p at depth direction, and in the corresponding position of the opposing party

optical receiver

42r, 43r, 44r are installed.Utilize careen grid 35 that the light of

guide lamp

42p, 43p is interrupted,

optical receiver

42r, 43r play the function of the car position coder of output pulse signal.Utilize the light blocking of careen grid 35 with guide lamp 44p, optical receiver 44r detects ground aligned region LZU, LZD, utilizes seeing through of light, detects and arrives floor ground area L U, LD.Therefore, optical receiver 44r plays the function of arrival floor ground region detector.

Here, careen grid 35 is installed on the car guide rail 7 by support 38, when making car ground 3 and floor ground 18 consistent, the center and the center unanimity that is installed in the optical sensor 41 on the lower frame 4 of careen grid 35.

Car 2 when Fig. 6 is arrival floor ground.That is, the car position detector that constitutes by optical sensor 41 and careen grid 35 be installed in car 2 about, action independently detects the position on car ground 3 respectively.As shown in the figure, suppose car ground 3 with respect to floor ground 18 lefts tilt alpha up, the optical receiver 44rR on right side is in arrival floor ground region LU, the LD, but the optical receiver 44rL in left side departs from floor area LU and is in upper.Then the ground alignment is only carried out in the left side, only makes the left side decline of car 2 carry out aliging with ground, so that optical receiver 44rL is in arrival floor ground region LU, the LD.

Car 2 when Fig. 7 represents arrival floor ground equally.That is, ground alignment only the occasion in left and right sides both sides are in ground aligned region LZU, LZD just carry out.As shown in the figure, car ground 3 stops in the upper inclination of floor ground 18, and the optical receiver 44rR on right side is in the aligned region LZU of ground, but the optical receiver 44rL in left side departs from ground aligned region LZU and be in upper occasion, does not carry out the ground alignment.

Fig. 8 represent call answering in service, from the speed command Vo of positioner 66 output.Figure is the example that is used for for to the Distance Remaining Dr arithmetic speed of purpose floor instruction Vo, in case t0 sends operating instruction constantly, then as initial value output speed instruction vol.Carry out lifting operation according to this speed command vol, in case lifting distance arithmetic and logic unit 64 output distance D m1, then to the Distance Remaining Dr of purpose floor as target lifting distance Do, Dr=(Do-Dml) then.To this Distance Remaining Dr output speed instruction vo2.Equally, according to this speed command vo2 follow floor lifting distance Dm2 only, then Distance Remaining Dr (=Do-Dm2), to this Distance Remaining Dr output speed instruction vo3.According to the present position of the moment t3 behind this speed command vo3 follow floor lifting distance Dm3 as car 2.To (=Do-Dm3) the new speed command Vo of output in case reach command speed Vmax, then becomes certain value from the Distance Remaining Dr of this position.

When Distance Remaining Dr equals deceleration distance, later on and Distance Remaining Dr export the speed command Vo that has slowed down matchingly, according to this speed command Vo floor that achieves the goal.

Fig. 9 represents the speed command LVo of ground alignment operation.Export the speed command LVo of ground alignment operation from ground alignment controller 82, behind the output initial value LVmax, from the subtracter 81 output speed command LVo that stage reduces with Distance Remaining LDr.In ground aligned region LZU and LZD, optical sensor 41 engages with careen grid 35.Car position arithmetic and logic unit 80 is by this engaging, from the sequence of operation of optical receiver 42r and optical receiver 43r, detect the service direction of car 2, from being the pulse number of the optical receiver 42r of starting point or optical receiver 43r with reference position, top Pu or reference position, bottom Pd, the position LDm of car 2 is carried out computing.Therefore, the occasion of the operation that descends is a starting point with reference position, top Pu, and the occasion of the operation of rising is a starting point with reference position, bottom Pd, and the position LDm of car 2 obtains detecting.When departing from floor ground area L U, LD, during with the blocking of the light of optical sensor 44r, then carry out aliging with ground according to speed command LVo in car ground 3.

According to Figure 10 the action of call answering operation is described below.Below to left side equipment 61L and right-side device 61R common actions, not making any distinction between describes.

Take advantage of the Room to call out or car call in case call out to have logined among the login loop 60a, then enter step S12, be used for the operating instruction of answering call from operating instruction loop 60c output from step S11.At step S13, by lifting distance operational loop 60b follow floor to the lifting distance of purpose floor is carried out computing, equipment 61L and right-side device 61R output is as common target lifting distance Do to the left.At step S14 switch 71 is connected with terminal b, the output of tension detector 21 is exported to static moment of torsion arithmetic and logic unit 72, after the tension force of the main push-towing rope 13 under prestarting quiescence static torque T s being carried out computing and storing, switch 71 is connected with terminal a.At step S15 switch 67 also is connected with terminal a.To move contact 62 closures at step S16, open drg 11 is to electrical motor 12 power supplies.

At the impulse singla input car speed arithmetical device 63 of step S17 with coder 53, so that car speed Vm is carried out computing, and carry out integration by 64 couples of car speed Vm of lifting distance arithmetic and logic unit, the follow floor is carried out computing to the lifting distance Dm of the present position of car 2.At step S18, from target lifting distance Do, deduct lifting distance Dm by subtracter 65, thereby computing obtains the Distance Remaining Dr to the purpose floor.At step S19, export the speed command Vo that is complementary with Distance Remaining Dr from positioner 66.Carry out computing at the velocity contrast Δ V of step S20 by 68 couples of speed command Vo of subtracter and car speed Vm.At step S21, carry out computing according to velocity contrast Δ V and by 69 couples of torque command To of speed controller.Pass through adder 73 with torque command To and static torque T s addition at step S22.At step S23, carry out computing by the accumulated value of 75 couples of torque command To of subtraction and static torque T s and the difference in torque Δ T of load torque Tm.According to difference in torque Δ T current-order Io is carried out computing by torque controller 76 at step S24.Power according to current-order Io and by 77 pairs of electrical motors of power converter 12 at step S25.

At step S26, in case after detecting car 2 and arrive the purpose floors by the car position detector that constitutes by careen grid 35 and optical sensor 41, enter step S27, disconnect operation contact 62, make drg 11 actions, while electrical motor 12 is the application of force not, returns step S11, carries out call answering operation next time.At step S26, when car 2 does not also return step S17 to the occasion of purpose floor, following repeating step S17 is to the processing of step S26, runs to car 2 always and achieves the goal till the floor.

Describe in the face of the action of neat operation over the ground according to Figure 11 below.Below to left side equipment 61L and right-side device 61R common actions, about do not make any distinction between (except the occasion of necessity) describe.

At step S31, have only when about optical receiver 44r enter step S32 such as occasion shown in Figure 6, that detect ground aligned region LZU, LZD simultaneously.As shown in Figure 7, when the occasion of the optical receiver 44r that does not detect ground aligned region LZU, LZD, do not carry out ground alignment operation.This is because the big occasion of the difference on floor ground 18 and car ground 3 is faced the cause of neat operation inappositely.At step S32, when about the optical receiver 44r of optical sensor 41 detect occasion in arrival floor ground region LU, the LD simultaneously, do not carry out ground alignment operation.This is because there is no need to carry out the cause of ground alignment.As the left side of Fig. 6, when the occasion that has the optical receiver 44r that does not detect arrival floor ground region LU, LD, at step S33, aligned instruction loop, the ground 60e of a side that does not detect the optical receiver 44r of arrival floor ground region LU, LD moves.

At step S34 switch 71 is connected with terminal b, the output of tension detector 21 is input in the static moment of torsion arithmetic and logic unit 72, the tension force of the main push-towing rope 13 under prestarting quiescence, after static torque T s carried out computing and store, switch 71 is connected with terminal a.At step S35 switch 67 also is connected with terminal b.To move contact 62 closures at step S36, open drg 11 is to electrical motor 12 power supplies.At step S37, alignment controller 82 in ground is as the speed command LVo output initial value LVmax of ground alignment operation.At step S38, read car position LDm from car position arithmetic and logic unit 80.This car position LDm is in service at call answering, is the impulse singla of optical sensor 41 of starting point with reference position, top Pu or reference position, bottom Pd when car 2 arrives the purpose floors, obtains by 80 computings of car position arithmetic and logic unit, and is stored.At step S39, from ground aligned region register 79, read ground aligned region LZU, LZD, by subtracter 81 ground aligned region LZU, LZD are deducted car position LDm, calculate Distance Remaining LDr to floor ground 18.At step S40, ground alignment control 82 is exported the speed command LVo that reduces with Distance Remaining LDr as shown in Figure 9 interimly.At step S41, the velocity contrast Δ V by 68 couples of speed command LVo of subtracter and car speed Vm carries out computing.

Step S42 is and the step S21 of Figure 10 same processing to step S25, according to velocity contrast Δ V, 69 couples of torque command To carry out computing by speed controller, by adder 73 with torque command To and static torque T s addition, carry out computing by the accumulated value of 75 couples of torque command To of subtracter and static torque T s and the difference in torque Δ T of load torque Tm, according to difference in torque Δ T current-order Io is carried out computing by torque controller 76, according to current-order Io, by 12 power supplies of 77 pairs of electrical motors of power converter, car 2 liftings are driven.

At step S43, detect car ground 3 by optical receiver 44r and enter in arrival floor ground area L U, the LD, then enter step S44, disconnect operation contact 62, make drg 11 actions, while electrical motor 12 is the application of force not, and end of run aligns on ground.At step S43, when also entering the occasion that arrives floor ground area L U, LD, car 2 do not return step S38, and following repeating step S38 carries out ground alignment operation to the processing of step S43.

Adopt the foregoing description 1, on the upwards corresponding winch 9 that is provided with car is carried out lifting and drive owing to end main push-towing rope 13 and it is wound on respectively at card about car 2 respectively, even thereby any 1 side's drg 11 is failure to actuate, also can make the car 2 of rated load, nominal load Wf static by the opposing party's drg 11.

In addition, tension force to each main push-towing rope 13 under the quiescence before the starting car 2 detects, individually increase and decrease the moment of torsion of cooresponding winch 9 according to detected value, thereby car 2 is carried out lifting to be driven, therefore, even load is offset to car 2 and make the tension force of each main push-towing rope 13 all different, winch 9 also drives car 2 with corresponding torque, thereby can prevent relatively moving of each main push-towing rope 13, avoid car ground 3 that abnormal dip takes place.

And, because each main push-towing rope 13 is provided with tension detector 21, also be provided with and under the quiescence of prestarting car 2 accumulated value of the output of each tension detector 21 detected loop 60f as the car internal burden of the load-carrying in the car, thereby other detectors need not be set just can detect the interior load of car 2 and calculate degree of mixing etc.

And, when the floor ground 18 when car 2 arrives the purpose floor surpasses top arrival floor ground region LU or bottom arrival floor ground region LD with the difference on car ground 3, utilize cooresponding winch 9 to carry out other ground alignment, therefore, suppose to relatively move because of winch 9 produces main push-towing rope 13, car ground 3 tilts, and also can obtain revising by the ground alignment, thereby can not make the accumulation that relatively moves of main push-towing rope 13.

And, the lifting distance Dm of each winch 9 is carried out computing, utilize lifting distance comparator 85 to compare, safety return circuit 87 actions stop winch 9 when this difference has surpassed specified value, therefore, can prevent car ground 3 abnormal dips in advance.

Especially, utilize the rotational angular velocity ω of 53 pairs of winchs 9 of coder to carry out instrumentation, from this instrumentation value described lifting distance Dm is carried out computing, thereby the occasion that not only main push-towing rope 13 generations relatively move in reality, and produce the occasion of difference at the not corresponding and lifting distance Dm of the rotation of winch 9, winch is stopped, even thereby the wearing and tearing of rope sheave 10 produce uneven occasion and also can detect in early days and take some countermeasures.

And, by current comparator 86 electric current of the electrical motor 12 of each winch 9 is carried out indivedual instrumentations, safety return circuit 87 actions when its difference has surpassed specified value, winch 9 is stopped, therefore, can stop the state of 1 electrical motor 12 extreme load biasing, such as the operation under the state of car 2 abnormal dips.

And, computing follow floor is to the lifting distance of purpose floor in advance, give each winch 9 with it as common target lifting distance Do, at each winch 9 computing from the present position to the Distance Remaining Dr of purpose floor,, individually cooresponding each winch 9 is controlled, therefore as speed command Vo with the speed that is complementary with this Distance Remaining Dr, the speed control that can be fit to target lifting distance Do correctly arrives the purpose floor.

But, in the present embodiment 1, biasing to the load that acts on winch 9 detects and is compared by current comparator 86 by 78 pairs of motor currents of current transformer, but be not limited thereto, also can be by the load torque that acts on each winch 9 being compared the biasing that detects load.

Embodiment 2

Figure 12 to Figure 15 represents the embodiment 2 with elevator control device of a plurality of winchs of the present invention.

This embodiment 2 sent operating instruction originally, along with the process of time, calculated speed command, and winch is unified control, between the purpose floor, with the speed command that is complementary with Distance Remaining winch was carried out other control at deceleration point.

Figure 12 is the loop diagram of block of expression elevator control device, the 91st, length is installed in the careen grid of the pair of right and left on the car guide rail 7 to ground towards upper and lower, in detail as shown in figure 13, from deceleration point PPu, PPd form grooving 36 till the floor ground position up and down.The 100th, operation management apparatus comprises: call out login loop 60a; Operating instruction loop 60c; Aligned instruction loop, ground 60e; The car internal burden detects loop 60f; And optical sensor 41 engages with careen grid 91, send the deceleration instruction loop 60d of deceleration instruction in the deceleration point that detects in front of the position that is arranged on apart from purpose floor predetermined distance.The 101st, when operating instruction loop 60c send operating instruction, along with the process of time is calculated speed command Vao and to both sides' unified time speed arithmetics and logic unit of controlling of winch 9.

102L is shown in the part that the long and short dash line among the figure impales, and the relevant equipment of lifting of expression and the main push-towing rope 13L in the left side of car 2,102R are represented the relevant equipment of lifting with the main push-towing rope 13R on the right side of car 2 equally.Two

equipment

102L, 102R are same device structures, below, both are not done difference unify explanation.The 103rd, to the speed that with Distance Remaining GDr is complementary of each winch 9 computing, produce the retardation controller of speed command Vdo shown in Figure 14 from deceleration point to the purpose floor.The 104th, make that terminal a, d connect, instruction by deceleration instruction loop 60d connects terminal b, d and instruction by aligned instruction loop, ground 60e makes terminal c, d bonded assembly switch according to operating instruction loop 60c instruction.

The 105th, the expression by with Fig. 2 in put on the part that symbol 71 constitutes to the identical member of the member of symbol 77.The 106th, the car position arithmetic and logic unit that the impulse singla of optical sensor 41 is counted, car position GDm is carried out computing, the 107th, record from deceleration point to floor ground the deceleration distance register of 18 deceleration distance GZU, GZD.The 108th, with the car position GDm that with the deceleration point is starting point from deceleration distance GZU or GZD, deduct, the subtracter of computing Distance Remaining GDr.

Figure 13 is the block diagram of the car position detector that is made of careen grid 91 and optical sensor 41 of expression, with length towards upper and lower to careen grid 91 on, till floor ground 18, wear grooving 36 from deceleration point PPu, PPd up and down with certain pitch d, simultaneously a side form with floor ground 18 be the arrival floor ground region of center, equidimension LU, LD excision up and down with notch part 37, and the arrival floor ground region with notch part 37 form up and down with floor ground 18 be the center, the coverage portion 92 that up and down ground aligned region LZU, LZD limited.

Promptly, to be starting point with top deceleration point PPu or bottom deceleration point PPd limit to deceleration distance GZU, the GZD of floor ground 18 for 91 pairs of careen grids, simultaneously, to being that ground aligned region LZU, the LZD of starting point limits with reference position, top Pu or reference position, bottom Pd, and arrival floor ground region LU, LD are limited.

Figure 14 represents from the speed command Vao of time speed arithmetic and logic unit 101 output with from the speed command Vdo of retardation controller 103 outputs.

After moment t20 sent operating instruction from operating instruction loop 60a, speed command Vao was every through interim ground of specified time Δ t speedup, became certain value after reaching command speed Vmax.

Engage with careen grid 91 at moment t21 optical sensor 41, then by the action of deceleration instruction loop 60d, switch 104 connects terminal b, d, the speed command Vdo that output is slowed down.That is, car position arithmetic and logic unit 106 is starting point descending in service with top deceleration point PPu, has been point processing car position GDm rising in service with bottom deceleration point PPd.Calculate Distance Remaining GDr in case by subtracter 108 deceleration distance GZU or GZD are deducted car position GDm, then 103 pairs of speed that are complementary with Distance Remaining GDr of retardation controller are carried out computing.This speed is exported as speed command Vdo by switch 104.

According to Figure 15 the action of the call answering operation of embodiments of the invention 2 is described below.Following left side equipment 102L and right-side device 102R common actions, not making any distinction between describes.

Take advantage of the Room to call out or car call in case call out to have logined among the login loop 60a, then enter step S52, be used for the operating instruction of answering call from operating instruction loop 60c output from step S51.At step S53 switch 71 is connected with terminal b, after the tension force of the main push-towing rope 13 under the prestarting quiescence carries out computing to static torque T s and stores, switch 71 is connected with terminal a.At step S54 switch 104 is connected with terminal a.To move contact 62 closures at step S55, open drg 11 is to electrical motor 12 power supplies.

At step S56, according to the operating instruction of operating instruction loop 60c from time speed arithmetic and logic unit 101 output speeds instruction Vao.At step S57, the velocity contrast Δ V by 68 couples of speed command Vao of subtracter and car speed Vm carries out computing.Step S58 be step S21 with Figure 10 to the identical processing of step S25, V calculates torque command To according to the velocity contrast Δ, the moment of torsion after this torque command To and the static torque T s addition is exported and to electrical motor 12 application of forces, so that car 2 liftings.At step S59, optical sensor 41 engages with careen grid 91, and whether 60d exports deceleration instruction inspection to the deceleration instruction loop.Do not return step step S56, the processing of following repeating step S56 to S59 if also export the occasion of deceleration instruction.

Occasion in that step S59 deceleration instruction has been exported connects terminal b, the d of switch 104 at step S60.At step S61, reading with deceleration point PPu or PPd from car position arithmetic and logic unit 106 is the car position GDm of starting point.Read deceleration distance GZU or GZD at step S62 from deceleration distance register 107, by subtracter 108 deceleration distance GZU or GZD are deducted car position GDm and calculate Distance Remaining GDr to floor ground 18.At step S63, retardation controller 103 is exported the interim speed command Vdo that reduces with Distance Remaining GDr as shown in figure 14.At step S64, carry out computing by the velocity contrast Δ V of 68 couples of speed command Vdo of subtracter and car speed Vm.Step S65 be step S21 with Figure 10 to the identical processing of step S25, V calculates torque command To according to the velocity contrast Δ, the moment of torsion after this torque command To and the static torque T s addition is exported and to electrical motor 12 application of forces, is run slowly.At step S66, when optical receiver 44r detect car ground 3 enter arrive in floor ground area L U, the LD after, enter step S67, decontrol operation contact 62, make drg 11 actions, make the not application of force of electrical motor 12 simultaneously, terminated call is replied operation.At step S66, if car ground 3 does not enter the occasion that arrives floor ground area L U, LD, then return step S61, following repeating step S61 carries out the call answering operation to the processing of step S66.

Ground alignment operation is identical with Figure 11, omits explanation.

The foregoing description 2, follow floor pass through output speed instruction Vao in time by time speed arithmetic and logic unit 101, thereby calculate speed command Vao easily to deceleration point Ppu, PPd.And, left and right sides winch 9L, 9R are controlled so that same speed command Vao is unified, thereby both difficult generation lifting distances are poor.

In addition, the floor ground 18 from deceleration point PPu, PPd to the purpose floor is directly detected by the position of the car 2 of

optical sensor

41 and 91 pairs of each main push-towing ropes 13 of careen grid, thereby can carry out correct position control.

Embodiment 3

Figure 16 is the embodiment 3 of elevator control device of the present invention.

In the foregoing

description

1 and 2, about counterweight 17 is suspended in respectively, in the present embodiment 3, by left and right sides main push-towing rope 13L and the common counterweight of 13R suspention.That is, each main push-towing

rope

13L, 13R, common car 2 and common counterweight 17A are fixed in its two ends.

The foregoing description 3, counterweight 17A and embodiment 1 carry out weight in the same manner to be set, even the occasion that either party drg 11 is failure to actuate also can be only makes the car 2 of rated load, nominal load Wf static by the opposing party's drg 11.Especially in present embodiment 3, counterweight 17A is shared for left and right sides main push-towing

rope

13L, 13R, thereby only needs a pair of weight guide 8 to get final product, and can alleviate installation.

The possibility of utilizing on the industry

As mentioned above, the control device with elevator of a plurality of hoist engines of the present invention is suitable for having to Narrow and small place arranges the control device of the elevator of a plurality of hoist engines. Weight when in addition, also being suitable for installing The control device of the elevator that is restricted of lifting.

Claims

1. elevator control device, blocking only main push-towing rope along a plurality of positions of the car that carries out lifting in the lift well separately and it is being wound on the upwards corresponding a plurality of winchs that are provided with, to drive described car lifting, it is characterized in that, utilize tension detector that the tension force of described each main push-towing rope under the described car quiescence is individually detected, individually make the output increase and decrease of cooresponding described winch according to this detected value, thereby drive described car lifting.

2. elevator control device as claimed in claim 1, it is characterized in that, be provided with car internal burden detecting device, this detecting device adds up to the tension force that detects under the quiescence that obtains at each main push-towing rope with tension detector, thereby the load-carrying in the car is detected.