CN104671022A - Elevator control device and elevator control method - Google Patents
Elevator control device and elevator control method Download PDFInfo
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- CN104671022A CN104671022A CN201410692159.4A CN201410692159A CN104671022A CN 104671022 A CN104671022 A CN 104671022A CN 201410692159 A CN201410692159 A CN 201410692159A CN 104671022 A CN104671022 A CN 104671022A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/0006—Monitoring devices or performance analysers
- B66B5/0018—Devices monitoring the operating condition of the elevator system
- B66B5/0031—Devices monitoring the operating condition of the elevator system for safety reasons
Abstract
The invention provides an elevator control device and an elevator control method. The braking force of a brake can be diagnosed even during the non-diagnosis-mode normal operation and the elevator-riding feel of passengers in an elevator car is not influenced. In a state where a first torque command value is applied to a motor (6) in the direction the same as the advancing direction of the elevator car in advance before the advancing of the elevator car (1), the braking force of the brake (7) is released gradually to make the elevator car to start advancing; the braking force of the brake is diagnosed by checking the matching between the current value of a braking coil and the value of the unbalance torque at the time of advancing start.
Description
Technical field
The present invention relates to the control setup of the elevator for diagnosing drg and the control method of elevator, wherein, this drg is braked driving the towing machine of lift car.
Background technology
In existing common tractor elevator, car is connected by main rope with to focusing in hoistway, and main rope is wound onto on towing machine in transfusion bottle mode.At this, towing machine is made up of rope sheave, motor and drg, and main rope winding is on rope sheave.Further, rope sheave is connected with motor, and the control part of the control setup of elevator controls rotative speed or the position of rotation of motor according to the detected value of the rotation sensor such as coder and/or resolver, make car be elevated smoothly thus.In addition, the rotation of drg to rope sheave is braked.
In this tractor elevator, when car stops, drg is utilized to make the rotation of rope sheave static, to keep car stationary.In addition, when detect certain exception in car traveling process, car emergent stopping is made by brake.
Like this, drg is arranged to make car stationary, and its braking force needs to maintain suitable state.
About such elevator control gear can diagnosing the past to the drg that rope sheave is braked, some control setups possess and attract brake shoe with the drg of brake off device braking force type by making electric current flow through restraining coil, the coder detecting rope sheave rotating speed is utilized to diagnose the braking force (the 3rd page the 0010th section and Fig. 1, Fig. 2 for example, referring to patent documentation 1) of this drg.
In the control setup of the elevator of patent documentation 1, first the operation mode of elevator is switched to diagnostic mode, and there is the unbalanced state of weight between cage side and counterweight-side under, car is stopped.Further, the attraction electric current controlling to flow through restraining coil makes brake discharge gradually, detects the movement of car according to the pulse data from coder.Consequently, the braking force of drg can be measured according to car start the to advance attraction electric current in moment.
[patent documentation]
[patent documentation 1] International Publication WO2011/101978 publication
But, there is following problem in the prior art.
In the control setup of the elevator of patent documentation 1, under the diagnostic mode not having passenger, implement the mensuration of the braking force of drg.Therefore, the mensuration of the braking force of drg can not be carried out all the time.
In addition, in order to take the diagnosis implementing drg under the state of car passenger, such as when wanting the braking force measuring drg when car starts to advance, due to the overbalance torque that the weight difference when brake release because of car and counterweight causes, car likely moves to unexpected direction.Therefore, likely make passenger feel uneasy, harmful effect is brought to the boarding impression of passenger.
Summary of the invention
The present invention proposes to solve the above problems just, its object is to, a kind of control setup of elevator and the control method of elevator are provided, even the braking force of drg also can be diagnosed when the usual running of non-diagnostic pattern, and the boarding impression of passenger in car can not be damaged.
According to the control setup of elevator of the present invention, this elevator has towing machine, car and the counterweight lifting of the main rope hanging be wound onto on rope sheave is made by controlling towing machine, wherein, carrying means becomes the drg having the rope sheave that can rotate, the motor driving rope sheave and brake the rotation of rope sheave, the control setup of elevator has: location/velocity detector, and it detects position of rotation or the rotative speed of motor, control part, it has motor controling part and brake control section, and the braking force of described drg is diagnosed when the usual running of car, this motor controling part controls the torque instruction value for motor, the position of rotation of the motor detected by location/velocity detector or rotative speed is made to become the response of expectation, this brake control section, by controlling the electric current of the restraining coil of the brake shoe attracting drg, is braked or brake release drg, and overbalance torque arithmetic element, it is according to torque instruction value, actual torque value, the moment component value of the current value of motor, or any one in the moment component value of the current instruction value of motor, the overbalance torque of the weight of computing car and the weight of counterweight, control part applies the 1st torque instruction value in the direction identical with the direct of travel of car in advance before the beginning of advancing of car, by torque instruction value during applying the 1st torque instruction value, actual torque value, the moment component value of the current value of motor, or any one in the moment component value of the current instruction value of motor, be stored in the storage part in control part as the 1st spot check value, control part carries out the control that the current value of restraining coil is increased gradually under the state being applied with the 1st torque instruction value, the braking force of drg is made to discharge gradually and make car start to advance thus, and the current value of the restraining coil started when advancing or the current instruction value that starts restraining coil when advancing are stored in storage part as the 2nd spot check value, control part is by checking the 1st spot check value and the 2nd spot check value that are stored in storage part, and the matching between the value of overbalance torque when advancing by overbalance torque arithmetic element calculates, diagnose the braking force of drg.
In addition, the control method of elevator of the present invention is the control method used in the control setup of elevator of the present invention, control part performs following steps: before the beginning of advancing of car, apply the 1st torque instruction value in advance on the direction identical with the direct of travel of car, be stored in the storage part in control part using the 1st torque instruction value as the 1st spot check value; The control that the current value of restraining coil is increased gradually is carried out under the state being applied with the 1st torque instruction value, make the braking force of drg discharge gradually and make car start to advance thus, and the current value of the restraining coil started when advancing is stored in storage part as the 2nd spot check value; By checking the matching between the value of the 1st spot check value stored in storage part and the 2nd spot check value and overbalance torque when advancing by overbalance torque arithmetic element calculates, the braking force of diagnosis drg.
Invention effect
According to the present invention, apply motor torque at the direct of travel of car in advance, then make the braking force of drg discharge gradually, to make car start smoothly to advance.Further, by checking the matching between the overbalance torque of the weight of car and the weight of counterweight and drg current value and motor torque value, diagnosis usually running time the braking force of drg.Consequently, even the boarding impression that can not damage passenger in car can be provided also can to diagnose the control setup of the elevator of the braking force of drg and the control method of elevator when the usual running of non-diagnostic pattern.
Accompanying drawing explanation
Fig. 1 is the constructional drawing of the control setup of the elevator that embodiments of the present invention 1 are shown.
Fig. 2 is the figure of the action of the control setup of the elevator that embodiments of the present invention 1 are shown.
Fig. 3 is the constructional drawing of the control setup of the elevator that embodiments of the present invention 2 are shown.
Fig. 4 is the figure of the action of the control setup of the elevator that embodiments of the present invention 2 are shown.
Label declaration
1 car; 2 counterweights; 3 rope sheaves; 4 main ropes; 5 location/velocity detectors; 6 motors; 7 drgs; 8,38 control parts; 8a, 38a brake control section; 8b, 38b motor controling part; 31 detectors of load.
Detailed description of the invention
Below, accompanying drawing is used the control method of the control setup of elevator of the present invention and elevator to be described preferred embodiment.In addition, mark identical label to identical or suitable part to be in various figures described.
Embodiment 1
Fig. 1 is the constructional drawing of the control setup of the elevator that embodiments of the present invention 1 are shown.In FIG, car 1 and counterweight 2 are hung on rope sheave 3 by means of main rope 4.Main rope 4 is such as made up of many ropes or multi-ribbon.
Motor 6 drives rope sheave 3, thus car 1 is elevated.Motor 6 has for rotating to it the drg 7 braked, makes drg 7 carry out braking and the action of brake release by brake control section 8a.Drg 7 is made up of brake disc or brake wheel etc., by controlling the electric current of restraining coil and carry out braking and the action of brake release.When car 1 is advanced, brake control section 8a makes current direction restraining coil attract brake shoe to its energising, carries out the brake release of drg 7.In car 1 stopped process, drg 7 is in braking mode, and the electric current of restraining coil is zero.
Location/velocity detector 5 is connected with motor 6.Location/velocity detector 5 is the detectors for the position or speed detecting motor 6, usually adopts coder or resolver, exports the pulse corresponding with the rotation amount of motor 6 or voltage.
Control part 8 is configured to have aforesaid brake control section 8a and motor controling part 8b.Motor controling part 8b controls the position of rotation of motor 6 or the device of rotative speed, and the position of rotation or rotative speed controlled as making the motor 6 detected by location/velocity detector 5 becomes the response of expectation.Usually, being configured to position control system when controlling the position of rotation of motor 6, being configured to speed control system when controlling the rotative speed of motor 6.
Fig. 2 is the figure of the action of the control setup of the elevator that embodiments of the present invention 1 are shown.Under regard to motor 6 control adopt the situation of speed control system, use Fig. 2 that the action of the control setup of the elevator of present embodiment 1 is described.
Epimere in Fig. 2 shows the time waveform of the braking current flowing through restraining coil.In addition, the stage casing in Fig. 2 shows the torque instruction value by motor controling part 8b computing.At this, motor controling part 8b computing makes the speed of car 1 reach the torque instruction value of the motor 6 of desired speed, and drive motor 6.In addition, the hypomere in Fig. 2 shows the speed value of car 1, with the mode drive motor 6 making the speed of car 1 consistent with the speed value of car 1.
Step 1:
Moment t0 shown in Fig. 2 is transfused to the starting order of elevator.At this, the landing call undertaken by utilizing landing button or the car call utilizing destination button to carry out in car 1, the starting order of input elevator.When inputting the starting order of elevator, motor controling part 8b exports the 1st torque instruction value τ r0, and motor 6 produces torque tau r0.
Now, the 1st torque instruction value τ r0 produces the torque with the direct of travel equidirectional of car.Namely, motor controling part 8b is when above destination floor is positioned at current dock floor, make to produce torque on the direction of car 1 rising, when destination floor is positioned at the below of current dock floor, make to produce torque on the direction of car 1 decline.In addition, about the size of the 1st torque instruction value τ r0, when the brake braking force of drg 7 is released, such as considering the minimum load carrying ability in the car 1 of the Maximum Loading Capacity in the car 1 of supposition, the consideration supposition when decline when rising, making to drive in the wrong direction relative to destination floor direction.Now, the 1st torque instruction value τ r0 is stored in advance in as the 1st spot check value in the storage part (not shown) in control part 8 by control part 8.
Step 2:
Brake control section 8a makes braking current increase from moment t0, weakens brake braking force.That brake braking force weakens as a result, when brake braking force is less than overbalance torque and the torque tau r0 sum of the weight of car 1 and the weight of counterweight 2, rope sheave 3 starts to rotate, and car 1 starts to advance.This moment refers to moment t1 in fig. 2.Now, the braking current Ibk of moment t1 is stored in advance in the storage part in control part 8 as the 2nd spot check value by control part 8.
In addition, can detect according to the output signal of location/velocity detector 5 the moment t1 that car 1 starts to advance.Such as, when position/speed detector 5 adopts coder, when pulse change exceedes the set value preset, be detected as car 1 and start to advance.Now, to make car 1 apply motor torque to the mode of destination floor direction movement, thus car 1 moves to destination floor direction.In addition, when increasing braking current from moment t0, also can carry out the control that its Magnification is reduced, braking current is increased gradually, the braking current Ibk at moment t1 can be detected thus accurately.
Step 3:
Then, the moment t1 (hereinafter referred to as " moment t1 ") while storing braking current Ibk or after just storing, motor controling part 8b makes the action of commencing speed control system.Now, speed control system formation speed command value, union makes the rotative speed of motor 6 follow the torque instruction value of generated speed value, to control motor 6.
In addition, increasing braking current at moment t1, brake control section 8a to the braking of drg 7 be discharged completely, after drg 7 is attracted completely, switching to the maintenance electric current keeping attraction state.Usually, electric current is kept to be the value less than electric current when attracting.
As the example of speed value, as shown in the hypomere of Fig. 2, be set to from moment t1, such as make car 1 start the speed value of advancing.In fig. 2, export and make the acceleration/accel of car 1 with the speed value of the mode reaching fixed value from moment t1 speedup smoothly.
Step 4:
To terminate and after resting against destination floor, brake control section 8a makes braking current reduce to zero, and the braking by drg 7 makes car 1 keep static advancing of car 1.Then, torque instruction value is set to zero by motor controling part 8b, and the action of motor 6 is stopped.
Step 5:
Motor controling part 8b according to the torque instruction value in advancing at car 1, the weight overbalance torque of advance car 1 when starting and the counterweight 2 of computing elevator.Such as shown in Figure 2, during when car 1 can be used to advance with fixed speed, the torque instruction value of Δ T1 carries out computing in this computing.Or, also can be used in car 1 and rest against the torque instruction value that destination floor reaches Δ T2 during zero to torque instruction value and carry out computing.
The torque instruction value of period Δ T1 be by the weight overbalance torque of car 1 and counterweight 2, advance with car 1 time loss torque, the main rope 4 formed due to the change in location of car 1 and/or the changes in weight amount that controls cable etc. be added and obtain.Therefore, such as computing deducts from the aviation value of the torque instruction value at period Δ T1 the value that described loss torque and main rope 4 and/or the changes in weight that controls cable etc. measure, as the weight overbalance torque of car 1 and counterweight 2.In addition, loss torque when advancing is set to set value in advance, or adopts the value of mensuration or identification when advancing.In addition, about main rope 4 and/or the changes in weight amount controlling cable etc., the basis weights due to them is known, thus can be obtained by computing according to the miles of relative movement of car 1 and described unit weight.
The torque instruction value of period Δ T2 car 1 and the weight overbalance torque of counterweight 2, the main rope 4 formed with the change in location because of car 1 and the changes in weight amount that controls cable etc. is added to obtain.Therefore, such as computing deducts from the aviation value of the torque instruction value at period Δ T2 the value that main rope 4 and the changes in weight that controls cable etc. measure, as the weight overbalance torque of car 1 and counterweight 2.
Step 6:
Then, by check the car 1 and counterweight 2 obtained like this torque of weight overbalance, and the 1st torque instruction value τ r0 (the 1st spot check value) that is stored in storage part and braking current Ibk (the 2nd spot check value) between matching, judge that whether brake braking force normal.Specifically, check according to following steps.
First, the brake braking force in the moment (being equivalent to moment t1) that car 1 starts to advance is obtained according to braking current Ibk.This brake braking force is obtained according to the relation between the braking current measured in advance and brake braking force.Such as, also can obtain by referring to the table of the brake braking force be mapped with braking current, can also obtain according to the conversion formula being scaled brake braking force from braking current.In addition, also can measure when the maintenance of elevator and upgrade the relation between braking current and brake braking force.
In the normal situation of brake braking force, the weight overbalance torque obtained like this and the 1st torque instruction value τ r0 sum should with brake force balance.Therefore, obtain the torque of weight overbalance and the 1st torque instruction value τ r0 sum, and obtain this and with the difference of the brake braking force obtained according to braking current, when this difference is in reference range, be judged to be that brake braking force is normal.On the other hand, when this difference departs from reference range, be judged to be that brake braking force is abnormal.
When being judged to be brake braking force exception, take to make elevator stop service and/or circular to measures such as repair companies.
Like this, motor torque is applied by the direct of travel at car 1, detecting that output speed command value makes car 1 advance while car 1 starts to advance, can start to advance with the action of car 1 simultaneously, and the motion started when detecting of advancing of car 1 becomes the direct of travel of car 1, motion smoothing ground transition when thus can detect from the advancing of car 1 is advancing of car 1.
As mentioned above, according to embodiment 1, car can not move to the reversing sense of direct of travel, thus can diagnose the braking force of drg when the boarding impression not damaging passenger in car.
In addition, do not need the diagnostic mode proceeding to brake braking force, the mensuration of brake braking force can be carried out in usually serving, thus can measure brake braking force the opportunity of advancing arbitrarily, and the service that can not produce elevator declines.Such as, due to the mensuration of brake braking force just can be carried out whenever advancing, thus can in the exception of moment detection brake braking force more early, the dangerous play that can cause the exception due to brake braking force prevents trouble before it happens.
In addition, the car of the torque instruction value computing in can advancing according to car when advancing beginning and the overbalance torque of counterweight, thus can realize at low cost.
In addition, in step 2, utilize location/velocity detector 5 to carry out the detection started of advancing of car 1, but also can detect according to the change of the induced voltage of motor 6, can also be detected by the amount of movement measuring main rope 4.In addition, also can be detected by the speed of direct-detection car 1 and/or acceleration/accel.
In addition, in step 3, as the speed value of car 1, also the dead slow speed traveling time later from moment t1 can be set to the long period.Further, the speed value making to seamlessly transit the speed detected for location/velocity detector 5 can also be exported.
In addition, in present embodiment 1, describing the situation that motor controling part 8b forms speed control system, when forming position control system, also can make to use the same method to implement.Now, in step 3, replace speed control system and make position control system carry out action, position control system generates position command value.In addition, other arbitrary control method can also be used.
In addition, in step 3, also within the specified time limit from moment t1, the speed of response setting of position control system or speed control system can be become the speed of response being greater than standard.Such as, when position control system or speed control system are controlled to form by PI, can according to the value governing response speed of proportional gain or storage gain, thus the value of proportional gain or storage gain be changed.By such process, when the control system of step 3 carries out action, the performance of following of command value is improved, thus can improve boarding impression further.
In addition, in steps of 5, also can implement elevator during shown in Fig. 2 in these two periods of Δ T1 and period Δ T2 and to advance the computing of weight overbalance torque of car 1 when starting and counterweight 2, and be averaged.By such process, operational precision can be improved.In addition, also can obtain according to the torque instruction value in the middle of car 1 plus/minus speed process.Now, according to acceleration-deceleration and the torque instruction value of car 1, obtain the moment of inertia of the elevator of the bearing load comprised in car 1, according to the difference of the moment of inertia with the elevator during bearing load do not comprised in car 1 obtained in advance, bearing load in computing car 1, the weight overbalance torque of union car 1 and counterweight 2.
In addition, in the computing of weight overbalance torque, have employed torque instruction value, but also can measure actual torque, moment component can also be extracted use from the current value of motor 6.
In addition, motor controling part 8b is controlling the electric current of motor 6 according to torque instruction value, when making the position of rotation of motor 6 or rotative speed become Expected Response, also the moment component being used in the current instruction value for motor 6 used when controlling described electric current can be extracted, to replace torque instruction value.
Equally, also can replace the torque instruction value in These steps, and use any one value in the moment component of the actual torque value of motor 6, the moment component value of the current value of motor 6 or the current instruction value of motor 6.
Such as, in step 1, as the 1st spot check value, any one value in the moment component of the actual torque value of motor 6, the moment component value of the current value of motor 6 or the current instruction value of motor 6 when can be used in moment t0.
In addition, when forming current control system when brake control section 8a controls the electric current of restraining coil, in aforesaid each step, the current instruction value that also can be used in the restraining coil used in current control system as braking current value, to replace the current value of restraining coil.
Such as, in step 1, as the 2nd spot check value, the current instruction value of restraining coil that moment t1 advances when starting can be used in.
Embodiment 2
In embodiment 1 above, describe the method according to overbalance torque when starting of advancing to the torque instruction value computing of motor 6 in car 1 traveling process.On the other hand, in the method that present embodiment 2 illustrates, be provided with the detectors of load of the bearing load measured in car 1, according to the bearing capacity in the car 1 that detectors of load 31 detects, computing is advanced overbalance torque when starting.In addition, also illustrate that the bearing capacity in the car 1 detected according to detectors of load sets the method for the 1st torque instruction value τ r0 applied at the direct of travel of car 1 in advance.
Fig. 3 is the constructional drawing of the control setup of the elevator that embodiments of the present invention 2 are shown.The feature of the control setup of the elevator of the present embodiment 2 shown in Fig. 3 is also have detectors of load 31.Further, the bearing capacity in the car 1 that the control part 38 of present embodiment 2 detects according to detectors of load 31, computing is advanced overbalance torque when starting.It is identical with the embodiment 1 that describes above to have marked other structure of the label identical with Fig. 1 and function.
Detectors of load 31 is the devices of the bearing load detected in car 1, such as, can utilize the realizations such as the loading cell being arranged on underfloor.In addition, also can be realized by the tension force and/or amount of tension measuring main rope 4.
Fig. 4 is the figure of the action of the control setup of the elevator that embodiments of the present invention 2 are shown.Below, use Fig. 4 that the determination step of brake braking force is described.
Step 1:
Moment t0 shown in Fig. 4 is transfused to the starting order of elevator.The landing call undertaken by utilizing landing button or the car call utilizing destination button to carry out in car 1, the starting order of input elevator.Then, detectors of load 31 measures the bearing load in car 1, and sends to motor controling part 38b.Motor controling part 38b exports the 1st torque instruction value τ r0 ', and motor 6 produces torque tau r0 '.
According to the size of load value setting the 1st torque instruction value τ r0 ' now in the car 1 determined by detectors of load 31, make the torque producing the size that car 1 is advanced to destination floor direction when the braking release of drg 7.Such as, the size of the 1st torque instruction value τ r0 ' is set to the weight overbalance torque of offsetting car 1 and counterweight 2 and is applied through the size that bearing capacity is scaled the torque of about 10 ~ 20% of authorized load capacity on the destination floor direction of car 1.
Now, control part 38, by the weight overbalance torque sum of the 1st torque instruction value τ r0 ' and car 1 and counterweight 2, the value of torque namely kept by drg 7 and braking torque τ bk, is stored in as the 1st spot check value in the storage part (not shown) in control part 38.
Step 2:
Identical with embodiment 1 above.
Step 3:
Both the action identical with embodiment 1 above can be carried out, also following action can be added.
At moment t1, torque instruction value is changed to the 2nd torque instruction value τ r1 that the weight overbalance torque of car 1 and counterweight 2 is alleviated by motor controling part 38b from the 1st torque instruction value τ r0 ', make speed control system carry out action.In addition, also torque tau r1 can be set to the size with the weight overbalance torque balance of car 1 and counterweight 2.Now, the weight overbalance torque of car 1 and counterweight 2 is offset by motor torque.Later action is identical with embodiment 1 above.
Step 4:
Identical with embodiment 1 above.
Step 5:
Can omit.
Step 6:
Check store in step 1 the braking torque τ bk (the 1st spot check value) kept by drg 7, with the braking current Ibk (the 2nd spot check value) stored in step 2 between matching, judgement drg 7 braking force whether normal.Specifically, by adopting the step identical with embodiment 1 above, the brake braking force starting the moment of action at car 1 is obtained according to braking current Ibk.Further, obtain brake braking force and the difference of the braking torque τ bk stored in step 1, when this difference is in reference range, be judged to be that brake braking force is normal.In addition, when this difference departs from reference range, be judged to be that brake braking force is abnormal.In addition, braking torque τ bk is the torque of weight overbalance and the 1st torque instruction value τ r0 ' sum, and this step is in fact carry out the judgement identical with the step 6 of embodiment 1 above.
When being judged to be brake braking force exception, take make the service stopping of elevator and/or circulate a notice of to measures such as repair companies.
As mentioned above, according to embodiment 2, the detected value of detectors of load is utilized to determine the 1st torque instruction value τ r0 ' in step 1, thus regardless of the load capacity in car, the size of the 1st torque instruction value τ r0 can both be set to and such as the weight overbalance torque of car and counterweight be offset and is applied through at the direct of travel (destination floor direction) of car the size that bearing capacity is scaled the torque of about 10 ~ 20% of authorized load capacity.Thereby, it is possible to make the setting in motion speed of the car of the moment (moment t1) at brake braking force release, car setting in motion smaller all the time, thus compared with embodiment 1 above, boarding impression more stably can be improved.
In addition, by adopting the detected value of detectors of load, in step 3, torque instruction value can be changed to the 2nd torque instruction value τ r1 of the weight overbalance torque alleviating car and counterweight by motor controling part at moment t1, make speed control system carry out action.Thus, motor torque can be made more balanced with the weight overbalance torque of car and counterweight, thus can reduce further brake braking force just discharge after the setting in motion speed of car, compared with embodiment 1 above, boarding impression can be improved further.Further, due to step 5 can be omitted, the operand of control part can thus be cut down.
In addition, the step 5 of present embodiment 2 also can be set to the method identical with embodiment 1 above with step 6.In this case, in step 1, store the 1st torque instruction value τ r0 and replace braking torque τ bk, convert according to torque instruction value and obtain the value being equivalent to braking torque τ bk.Therefore, when the metrical error of detectors of load 31 is larger, the method that the embodiment 1 above describes more precisely can carry out the mensuration of brake braking force.
In addition, in present embodiment 2, describing the situation that motor controling part 38b forms speed control system, when forming position control system, also can make the enforcement that uses the same method.Now, in step 3, replace speed control system and make position control system carry out action, position control system generates position command value.In addition, the control of motor 6 also can use other arbitrary control method.
In addition, identically with embodiment 1 above, in step 3, also within the specified time limit from moment t1, the speed of response setting of position control system or speed control system can be become the speed of response being greater than standard.By such process, when control system carries out action in step 3, the performance of following of command value is improved, thus can improve boarding impression further.
Embodiment 3
In present embodiment 3, the method for carrying out making the command value of speed control system or position control system to become the control of zero when the advancing and start of car 1 is described.Thereby, it is possible to suppress the commencing speed of advancing of the car 1 when the braking force release of drg 7, boarding impression can be improved further.
Present embodiment 3 is the modes of the action in embodiment 1 above or embodiment 2 above having been carried out part change and having obtained.Below, by with the difference of embodiment 1 above centered by be described.
Step 1: when being transfused to the starting order of elevator at moment t0, motor controling part 8b exports the 1st torque instruction value τ r0, makes speed control system carry out action.Now, the speed value of speed control system is zero.In addition, when use location control system, make position control system carry out action, position command value is zero.That is, after the braking force of drg 7 is removed, motor controling part 8b is made to carry out action to make the static mode of car 1.Other is identical with embodiment 1 above.
The action of step 2 is identical with embodiment 1 above.But owing to being that speed control system or position control system carry out action, thus diminish at brake braking force, car 1 is when starting action, control system carries out action, to suppress the action of car 1, namely keep car 1 static.
Step 3: speed control system or position control system carry out action in step 1, thus proceed action.Further, identically with embodiment 1 above, the speed value of output speed control system or the position command value of position control system.
The action of step 4 ~ step 6 is identical with embodiment 1 above.
In present embodiment 3, by making speed control system or position control system carry out action before drg 7 discharges, and its command value is set to zero and makes it carry out action, the setting in motion speed of the car 1 when drg 7 discharges can be suppressed, boarding impression can be improved further.Therefore, even when such as torque tau r0 is excessive, also can realize the motion of advancing when starting more smoothly, improvement is experienced in boarding.
In addition, make speed control system or position control system carry out action in step 1, thus also the value of the 1st torque instruction value τ r0 can be set to zero in step 1.In this case, when drg 7 discharges, although also there is car 1 starts situation from movement to the opposition side in destination floor direction, because speed control system or position control system carry out action, thus can suppress car 1 start mobile.
In addition, in step 1, by the speed of response of speed control system or position control system being set to the value being greater than standard, can suppress when drg 7 discharges car 1 start mobile.But, when increasing the speed of response of control system, control system easily becomes unstable, thus in step 3, also can, after specified time or in the moment of the speed value or position command value that output non-zero or when being attracted completely at brake shoe, the speed of response of control system be made to revert to the size of standard.
In addition, in present embodiment 3, the control making car keep static plays a role, and till the speed value exporting non-zero or position command value, the moment of output speed command value or position command value thus can be made in step 3 to postpone.
In addition, in present embodiment 3, by with the difference of embodiment 1 above centered by be illustrated, but embodiment 2 above can be applicable to equally.
In addition, describe the situation adopting speed control system and position control system in the control of motor 6, but arbitrary control method can be adopted.
Embodiment 4
Present embodiment 4 is the modes of carrying out the condition of the mensuration of brake braking force according to the determining positions of car 1.In present embodiment 4, only carry out the mensuration of brake braking force when car 1 is positioned at the position beyond near top layer.Such as, measure when the position of car 1 is the position beyond top layer or when being positioned at the lower position of the floor preset or when being positioned at bottom position.Therefore, it is possible to suppress the setting in motion speed of the car 1 when drg 7 discharges, improvement is experienced in boarding.Present embodiment 4 can be applicable to embodiment 1 ~ 3 above.
Generally speaking, the vibration starting the car 1 when advancing that the weight difference about car 1 and counterweight 2 causes, even exist weight difference identical time, also along with the tendency that the position of car 1 increases close to top layer.This is because when car 1 is close to top layer, the length from car 1 top to towing machine of main rope 4 shortens, and the rigidity of the main rope 4 of this part increases.Therefore, by carrying out the diagnosis of brake braking force in the position except near the top layer that boarding impression is easily deteriorated, the diagnosis of brake braking force can be carried out when not making the boarding impression variation to elevator.
In addition, also can be, when mounted or the service of elevator time, carry out the mensuration of brake braking force at all floors, judge boarding impression according to the setting in motion speed of the car 1 at moment t1, only carry out the mensuration of brake braking force in setting in motion speed lower than the floor of a reference value.In addition, also can measure the acceleration/accel of car 1, replace the setting in motion speed measuring car 1.
Embodiment 5
Present embodiment 5 is the modes determining to carry out the condition of the mensuration of brake braking force according to the bearing load of car 1.In present embodiment 5, only the bearing load being in car 1 be near zero beyond lift-launch state time carry out the mensuration of brake braking force.Such as, when the bearing load of car 1 be the half of specified bearing load or be greater than the bearing load value preset measure.Therefore, it is possible to suppress the setting in motion speed of the car 1 when drg 7 discharges, improvement is experienced in boarding.Present embodiment 5 can be applicable to the situation of the detectors of load 31 in the embodiment 2 ~ 4 above with car 1.
Such as, in the step 1 of embodiment 2 above, apply such as size be the weight overbalance torque of car 1 and counterweight 2 is offset and be applied through at the direct of travel of car bearing capacity be scaled the torque instruction value of the torque of X% (X the is arbitrary value) size of authorized load capacity time, exist the bearing load of car 1 less time, the tendency that the car vibrations when drg 7 discharges is larger.This is because when the bearing load of car 1 is less, the inertia of the part driven by towing machine is less, thus increase relative to the setting in motion speed of the car 1 of weight overbalance torque.
Therefore, by at the bearing load be easily deteriorated except boarding impression be (be equivalent to the situation that passenger is less) zero near except position carry out the mensuration of brake braking force, the mensuration of brake braking force can be carried out when not making the boarding of elevator experience variation.
In addition, also can be, when mounted or in the service of elevator, the mensuration of brake braking force is carried out under the condition that bearing load is different, judge boarding impression according to the setting in motion speed of the car 1 at moment t1, only carry out the mensuration of brake braking force when the bearing load of setting in motion speed lower than a reference value.In addition, also can be, in aforementioned processing, measure the acceleration/accel of car 1, replace the setting in motion speed measuring car 1.
Claims (11)
1. the control setup of an elevator, this elevator has towing machine, car and the counterweight lifting of the main rope hanging be wound onto on rope sheave is made by controlling described towing machine, wherein, described carrying means becomes and has the described rope sheave that can rotate, the drg driving the motor of described rope sheave and brake the rotation of described rope sheave, wherein, the control setup of described elevator has:
Location/velocity detector, it detects position of rotation or the rotative speed of described motor;
Control part, it has motor controling part and brake control section, and the braking force of described drg is diagnosed when the usual running of described car, this motor controling part controls the torque instruction value for described motor, the position of rotation of the described motor detected by described location/velocity detector or rotative speed is made to become the response of expectation, this brake control section, by controlling the electric current of the restraining coil of the brake shoe attracting described drg, is braked or brake release described drg; And
Overbalance torque arithmetic element, it is according to any one in the moment component value of the moment component value of the current value of described torque instruction value, actual torque value, described motor or the current instruction value of described motor, the overbalance torque of the weight of car described in computing and the weight of described counterweight
Described control part applies the 1st torque instruction value in the direction identical with the direct of travel of described car in advance before the beginning of advancing of described car, by any one in described torque instruction value, actual torque value, the moment component value of current value of described motor or the moment component value of the current instruction value of described motor when applying described 1st torque instruction value, be stored in the storage part in described control part as the 1st spot check value
Described control part carries out the control that the current value of described restraining coil is increased gradually under the state being applied with described 1st torque instruction value, the braking force of described drg is made to discharge gradually and make described car start to advance thus, and the current value starting described restraining coil when advancing using described or the described current instruction value starting described restraining coil when advancing are stored in described storage part as the 2nd spot check value
Described control part by check the described 1st spot check value that is stored in described storage part and described 2nd spot check value and by described overbalance torque arithmetic element calculate described advance time described overbalance torque value between matching, diagnose the braking force of described drg.
2. the control setup of elevator according to claim 1, wherein,
Described overbalance torque arithmetic element, according to the described torque instruction value for described motor in described car traveling process, starts described overbalance torque when advancing described in computing.
3. the control setup of elevator according to claim 1 and 2, wherein,
The control setup of described elevator also has the detectors of load of the bearing capacity detected in described car,
Start described overbalance torque when advancing described in bearing capacity computing in the described car that described overbalance torque arithmetic element detects according to described detectors of load, and do not carry out computing according to described torque instruction value,
Described 1st torque instruction value of bearing capacity setting in the described car that described control part detects according to described detectors of load.
4. the control setup of elevator according to claim 3, wherein,
Described torque instruction value, after described car starts to advance, is changed to the 2nd torque instruction value that described overbalance torque is alleviated by described motor controling part from described 1st torque instruction value.
5. the control setup of elevator according to claim 1 and 2, wherein,
Described control part only when described car is arranged in below the floor that hoistway presets, carries out the diagnosis of the braking force of described drg.
6. the control setup of elevator according to claim 1 and 2, wherein,
Described control part only when the bearing load of described car becomes the loaded state exceeding the value preset, carries out the diagnosis of the braking force of described drg.
7. the control setup of elevator according to claim 1 and 2, wherein,
Described motor controling part has the speed control system of the speed controlling described motor or controls the position control system of position of described motor, after starting at described car to advance, control described torque instruction value, utilize described speed control system or described position control system to control advancing of described car.
8. the control setup of elevator according to claim 7, wherein,
Described motor controling part controls, make described car advance start before and advance beginning time the speed value of described speed control system or the position command value of described position control system be zero.
9. the control setup of elevator according to claim 7, wherein,
The speed of response of described speed control system or described position control system is set to by described motor controling part, starts, in the specified time limit after advancing, to be greater than the speed of response after described specified time limit at described car.
10. the control setup of elevator according to claim 9, wherein,
Described motor controling part by advancing from described car, export the speed value of non-zero or position command value to described motor controling part during or to described brake shoe is attracted completely during, be set as described specified time limit.
The control method of 11. 1 kinds of elevators, the method is the control method used in the control setup of elevator according to claim 1, and described control part performs following steps:
Before the beginning of advancing of described car, apply the 1st torque instruction value in the direction identical with the direct of travel of described car in advance, described 1st torque instruction value is stored in the storage part in described control part as the 1st spot check value;
The control that the current value of described restraining coil is increased gradually is carried out under the state being applied with described 1st torque instruction value, make the braking force of described drg discharge gradually and make described car start to advance thus, and the described current value starting described restraining coil when advancing is stored in described storage part as the 2nd spot check value; And
By check the described 1st spot check value that is stored in described storage part and described 2nd spot check value and by described overbalance torque arithmetic element calculate described advance time described overbalance torque value between matching, diagnose the braking force of described drg.
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| JP2013243643 | 2013-11-26 | ||
| JP2013-243643 | 2013-11-26 | ||
| JP2014173513A JP6218706B2 (en) | 2013-11-26 | 2014-08-28 | Elevator control device and elevator control method |
| JP2014-173513 | 2014-08-28 |
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| CN104671022A true CN104671022A (en) | 2015-06-03 |
| CN104671022B CN104671022B (en) | 2017-04-12 |
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| CN113614014A (en) * | 2019-03-29 | 2021-11-05 | 三菱电机株式会社 | Elevator control device |
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