CN100522781C - Control system of elevator - Google Patents

Control system of elevator Download PDF

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Publication number
CN100522781C
CN100522781C CN200480042996.7A CN200480042996A CN100522781C CN 100522781 C CN100522781 C CN 100522781C CN 200480042996 A CN200480042996 A CN 200480042996A CN 100522781 C CN100522781 C CN 100522781C
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CN
China
Prior art keywords
tension
elevator
winch
steel cables
winchs
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN200480042996.7A
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Chinese (zh)
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CN1953922A (en
Inventor
安江正德
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Mitsubishi Electric Corp
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Mitsubishi Electric Corp
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Publication of CN1953922A publication Critical patent/CN1953922A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
    • B66B1/28—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
    • B66B1/28—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical
    • B66B1/285—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical with the use of a speed pattern generator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
    • B66B1/28—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical
    • B66B1/30—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical effective on driving gear, e.g. acting on power electronics, on inverter or rectifier controlled motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B9/00—Kinds or types of lifts in, or associated with, buildings or other structures

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Structural Engineering (AREA)
  • Elevator Control (AREA)
  • Lift-Guide Devices, And Elevator Ropes And Cables (AREA)

Abstract

A control system for an elevator, capable of performing speed control while balancing rope tension applied to two hoists. The control system for an elevator has two hoists, two ropes put on the two hoists, an elevator car engaged to one end of each of the two ropes, balance weights each engaged to the other end of each of the two ropes, and a drive controller for driving the two hoists. The control system further has tension detectors for detecting tension in each of the two ropes and has a compensator for controlling the rotational speed of the hoists to balance tension in the ropes, the compensator performing the control by outputting a feedback signal to the drive controller depending on the difference in tension in the two ropes detected by the detectors.

Description

The control system of elevator
Technical field
The present invention relates to utilize two (or more than two) winchs to drive the control system of the elevator of a car.
Background technology
In machine room-less elevator etc., between the mobile space of car and well enclosure, winch is set, so require the winch miniaturization.For example, what have is configured in winch in the melt pit of hoistway bottom, in the wall that is configured in the hoistway side and the gap between the car that has.
, in the high capacity elevator output of motor bigger, so there is restriction in miniaturization, exist since winch be arranged so that the problem that tunnel dimension increases.Therefore, propose a kind of elevator, it uses two winchs that drive car, reduces every required torque, winch is arranged in the mobile space and the space between the well enclosure of car.
In this elevator, roll steel cable and when driving car, need make the steel cable tension force that imposes on two winchs identical, rely on merely two winchs are carried out speed control, can not realize this purpose.
That is, the control system of this elevator is set up in parallel two driving control systems that are made of winch and actuating device, according to the speed command from operation management portion, controls each winch and makes its rotating speed follow instruction (for example, with reference to patent documentation 1).
But, in above-mentioned apparatus for controlling elevator in the past, usually under the state of the equalization of strain that keeps two steel cables, car is carried out drive controlling, but because the wearing and tearing of the groove of pulley and the difference of pulley effective diameter, when line speed produces difference, when rising, a line speed side steel cable tension force faster becomes big.On the contrary, when descending, it is big that the side's that line speed is slower steel cable tension force becomes.Like this, when steel cable tension force produced difference, not only using escalator felt bad, and because the distortion of car and to the excessive loads of track etc. also produces harmful effect to equipment.And, because load secund motor, so the problem that exists power-handling capability to descend.
Special fair 7-No. 42063 communiques (Fig. 5) of patent documentation 1 Japan
Summary of the invention
The present invention proposes for the problem that solves above-mentioned conventional example, its purpose is, a kind of control system of elevator is provided, and it utilizes two (or more than two) winchs to drive a car, can carry out speed control under the situation that makes the steel cable equalization of strain that imposes on two winchs.
Elevator control gear of the present invention has: two winchs; Be suspended on two steel cables on two winchs; Be separately fixed at the car on the end of two steel cables; Be fixed on the counter weight on the other end of two steel cables; Drive the driving control device of two winchs, it is characterized in that this elevator control gear has: the tension detector that detects two steel cables steel cable tension force separately; And compensator, it is according to the Tension Difference of two steel cables that detected by described tension detector, and to described driving control device output feedback control signal, the rotating speed of control winch is so that the steel cable equalization of strain.
According to the present invention, in the control system of the elevator that utilizes a car of two winchs drivings, can under the situation that makes the steel cable equalization of strain that imposes on two winchs, carry out speed control.
Description of drawings
Fig. 1 is the integrally-built block scheme of expression apparatus for controlling elevator of the present invention.
Fig. 2 is the block scheme of the inner structure of expression compensator shown in Figure 1.
The specific embodiment
Below, according to graphic embodiment explanation the present invention.
Embodiment 1
Fig. 1 is the block scheme of structure of the apparatus for controlling elevator of expression embodiments of the present invention 1.As shown in Figure 1, apparatus for controlling elevator of the present invention has two winch 4a, 4b that are made of elevator motor 1a, 1b, drg 2a, 2b and pulley 3a, 3b, is hanging steel cable 5a, 5b on pulley 3a, 3b respectively.The end of steel cable 5a, 5b is fixed on the car 6 by spring 8a, 8b, and the other end connects counter weight 7a, 7b respectively.The rotating speed of above-mentioned winch 4a, 4b is detected by speed detector 9a, 9b respectively, and the tension force of steel cable 5a, 5b is detected by loading detector 10a, 10b respectively.
Herein, loading detector 10a, 10b measure owing to elevator about the passenger in the car 6 makes loading increase and decrease the spring displacement that stretches, thereby play a role as the weighting apparatus that detects loading in the car, spring displacement is directly proportional with steel cable tension force on principle, so also measured steel cable tension force, had both the effect of tension detector.
Above-mentioned elevator motor 1a, 1b are by driving control device 11 drive controlling.This driving control device 11 is by constituting with the lower part: operation management portion 12, and it is determined the operational mode of car 6 and sends speed command; Speed controlling portion 13a, 13b, it calculates the torque that two elevator motor 1a, 1b should export respectively relatively from the speed command of operation management portion 12 and the speed detected value of speed detector 9a, 9b, and sends torque instruction; Torque control part 14a, 14b, it is according to from the torque instruction of speed controlling portion 13a, 13b, sends the instruction that is used to control the torque that elevator motor 1a, 1b produce; And power converter 15a, 15b, it is according to the instruction that comes self- torque control part 14a, 14b, and control is to the supply capability of elevator motor 1a, 1b.
In addition, apparatus for controlling elevator of the present invention has compensator 16, it is according to the Tension Difference of two steel cables that detected by loading detector 10a, 10b as tension detector, to described driving control device 11 output feedback control signals, the rotating speed of control elevator motor 1a, 1b is so that the steel cable equalization of strain.This compensator 16 is only when surpassing predetermined value by the Tension Difference as the loading detector 10a of tension detector, detected two steel cables of 10b, export feedback control signals to control the rotating speed of at least one winch to driving control device 11, poor according to steel cable tension force, rev down is the speed of a side elevator motor faster, and it is drawn close to a slower side.
Fig. 2 is the block scheme of the inner structure of the described compensator 16 of expression.As shown in Figure 2, this compensator 16 is used for the gain K17 of compensation at the speed command that sends to speed controlling portion 13 (general name of 13a, 13b) from operation management portion 12, have: compensating unit 18, it sends the compensation rate of gain K according to by as the loading detector 10a of tension detector, the Tension Difference of detected two steel cables of 10b; Dynamic compensation calculating part 19, its basis is from speed detector 9a, the speed detected value of 9b and from speed controlling portion 13a, the torque instruction of 13b, select slow winch as benchmark, reduce the compensation rate of the gain K of compensating unit 18, to speed faster winch carry out gain calibration, thereby the speed that makes two winchs is the steel cable uniform tension in order, and velocity contrast or velocity feedback based on two winchs, from speed controlling portion 13a, the difference of the torque instruction value that 13b exports respectively is during less than predetermined value, reduce the gain of compensating unit 18, the correction of K that do not gain is overbalance loading dull thereby make it to torque differences; And abnormity detection portion 20, it is from the compensation rate of compensating unit 18 during greater than predetermined value, is judged as unusually, and sends urgent halt instruction.
Below, the action of the apparatus for controlling elevator with structure illustrated in figures 1 and 2 is described.When pressing behind the not shown hall buttons of stop and car 6, operation management portion 12 determines the operation scheme of car 6, and instructs to speed controlling portion 13 output speeds.
Speed controlling portion 13 is relatively from the speed command of operation management portion 12 with by the rotating speed of speed detector 9a, 9b detected two winch 4a, 4b (elevator motor 1a, 1b), and calculate the torque that two elevator motor 1a, 1b should export respectively, to torque control part 14a, the instruction of 14b output torque.Torque control part 14a, 14b control the torque that motor 1a, 1b produce according to each torque instruction electrical power for operation changer 15a, 15b.
By the action of above driving control device 11, with predetermined velocity mode control elevator motor 1a, 1b and the rotating speed of pulley 3a, 3b, steel cable 5a, 5b are carried out traction drive, car 6 is transported to destination.
In addition, after car 6 arrives destination, make drg 2a, 2b action, stop the rotation of pulley 3a, 3b, and cut off power supply, finish a series of action elevator motor 1a, 1b.
Spring 8a, 8b are used for preventing the vibration propagation to car 6 from steel cable 5a, 5b, guarantee the using escalator sense that the passenger is comfortable.In addition, this spring 8a, the people of 8b in car 6 are flexible when elevator makes the loading increase and decrease up and down, so by measuring the displacement of spring, can detect loading in the car.This spring displacement is directly proportional with steel cable tension force on principle, so also measured steel cable tension force.Loading detector 10a, 10b for example use this principle, detect the tension force of steel cable 5a, 5b respectively.In addition, the method that detects steel cable tension force also has additive method, and Shuo Ming invention does not herein rely on method of inspection.
And, in apparatus for controlling elevator of the present invention, utilize compensator 16 to carry out following action, promptly, only when the Tension Difference of two steel cables surpasses predetermined value, to driving control device 11 output feedback control signals controlling the rotating speed of at least one winch, poor according to steel cable tension force, rev down is the speed of a side elevator motor faster, and it is drawn close to a slower side.
Promptly, utilize compensating unit 18 to carry out following action, Tension Difference according to two steel cables, transmission is at send to speed controlling portion 13 (13a from operation management portion 12, the compensation rate of the gain K of the speed command general name of 13b), utilize dynamic compensation calculating part 19 to carry out following action, promptly, according to from speed detector 9a, the speed detected value of 9b and from speed controlling portion 13a, the torque instruction of 13b, select slow winch as benchmark, reduce the compensation rate of the gain K of compensating unit, to speed faster winch carry out gain calibration, be the steel cable uniform tension in order thereby make the speed of two winchs.
Therefore, according to above-mentioned embodiment, control and make the steel cable equalization of strain, so can not produce the problem that car is driven the secund winch.That is, can under the situation that makes the steel cable equalization of strain that imposes on two winchs, carry out speed control.
In addition, as the loading detector 10a, the 10b double as tension detector that detect the weighting apparatus of loading in the car, so can realize inexpensively.Can when weighing detection, check that action is bad.
And, carry out controlled reset to the direction that steel cable tension force is little, so compensate, can realize safe design by the direction that descends to speed.
In addition, only when surpassing predetermined value, the difference of steel cable tension force feeds back, so, do not carry out unnecessary compensation, thereby can prevent misoperation by to overbalance loading dull.

Claims (3)

1. the control system of an elevator, it has: two winchs; Be suspended on two steel cables on two winchs; Be separately fixed at the car on the end of two steel cables; Be fixed on the counter weight on the other end of two steel cables; Drive the driving control device of two winchs, it is characterized in that the control system of this elevator has:
Detect the tension detector of two steel cables steel cable tension force separately;
Compensator, it exports feedback control signal according to the Tension Difference by detected two steel cables of described tension detector to described driving control device, the increase of the steel cable Tension Difference during the rotating speed of control winch is advanced with inhibition,
Described compensator has compensating unit, and it sends the compensation rate of gain according to the Tension Difference by detected two steel cables of tension detector; The dynamic compensation calculating part, it selects slow winch as benchmark, reduce the compensation rate of the gain of described compensating unit, to speed faster winch carry out gain calibration, thereby make the steel cable uniform tension in order of two steel cables, and during less than predetermined value, reduce the gain of described compensating unit in the difference of the torque instruction value of two winchs, the correction that does not gain, thus make it to overbalance loading dull based on torque differences; And abnormity detection portion, it is from the compensation rate of described compensating unit during greater than predetermined value, is judged as unusually, and sends urgent halt instruction,
Described compensator only when the Tension Difference by detected two steel cables of described tension detector surpasses predetermined value, is exported feedback control signal to control the rotating speed of at least one winch to described driving control device.
2. the control system of elevator according to claim 1 is characterized in that, described tension detector double as detects the weighting apparatus of loading in the car.
3. the control system of elevator according to claim 1, it is characterized in that described compensator is according to the Tension Difference of two steel cables, to described driving control device output feedback control signal, compensate with the rev down rotating speed of winch faster, make the slower winch of itself and rotating speed consistent.
CN200480042996.7A 2004-07-12 2004-07-12 Control system of elevator Expired - Fee Related CN100522781C (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2004/009918 WO2006006229A1 (en) 2004-07-12 2004-07-12 Control system for elevator

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CN1953922A CN1953922A (en) 2007-04-25
CN100522781C true CN100522781C (en) 2009-08-05

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EP (1) EP1767483B1 (en)
JP (1) JP4850708B2 (en)
CN (1) CN100522781C (en)
DE (1) DE602004031468D1 (en)
WO (1) WO2006006229A1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107108164A (en) * 2014-12-31 2017-08-29 奥的斯电梯公司 Elevator device rope system arranges

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* Cited by examiner, † Cited by third party
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WO2007122676A1 (en) * 2006-04-13 2007-11-01 Mitsubishi Denki Kabushiki Kaisha Elevator device
FI20060627L (en) * 2006-06-28 2007-12-29 Kone Corp Arrangement in a counterweight elevator
JP5031299B2 (en) * 2006-08-08 2012-09-19 三菱電機株式会社 Elevator equipment
WO2008068839A1 (en) * 2006-12-05 2008-06-12 Mitsubishi Electric Corporation Elevator apparatus
JP5058310B2 (en) * 2010-08-12 2012-10-24 株式会社日立ビルシステム Elevator control device
CN101992976A (en) * 2010-11-05 2011-03-30 沈阳建筑大学 Automatic control system of high-operating hanging basket
EP3456674B1 (en) 2017-09-15 2020-04-01 Otis Elevator Company Elevator tension member slack detection system and method of performing an emergency stop operation of an elevator system

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CN1057816A (en) * 1990-06-11 1992-01-15 三菱电机株式会社 Elevator control gear
CN1313827A (en) * 1998-02-26 2001-09-19 奥蒂斯电梯公司 Elevator system with overhead drive motor

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JPH0684233B2 (en) * 1986-03-05 1994-10-26 株式会社日立製作所 Elevator device and operation control method thereof
JPH04341494A (en) * 1991-05-17 1992-11-27 Kawasaki Heavy Ind Ltd Method of tuning control of four point suspension
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Patent Citations (2)

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Publication number Priority date Publication date Assignee Title
CN1057816A (en) * 1990-06-11 1992-01-15 三菱电机株式会社 Elevator control gear
CN1313827A (en) * 1998-02-26 2001-09-19 奥蒂斯电梯公司 Elevator system with overhead drive motor

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107108164A (en) * 2014-12-31 2017-08-29 奥的斯电梯公司 Elevator device rope system arranges
CN107108164B (en) * 2014-12-31 2020-08-18 奥的斯电梯公司 Elevator system roping arrangement
US11591188B2 (en) 2014-12-31 2023-02-28 Otis Elevator Company Elevator system roping arrangement

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Publication number Publication date
EP1767483B1 (en) 2011-02-16
WO2006006229A1 (en) 2006-01-19
DE602004031468D1 (en) 2011-03-31
JPWO2006006229A1 (en) 2008-04-24
EP1767483A1 (en) 2007-03-28
CN1953922A (en) 2007-04-25
JP4850708B2 (en) 2012-01-11
EP1767483A4 (en) 2010-03-31

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