CN104671022B - Elevator control device and elevator control method - Google Patents
Elevator control device and elevator control method Download PDFInfo
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- CN104671022B CN104671022B CN201410692159.4A CN201410692159A CN104671022B CN 104671022 B CN104671022 B CN 104671022B CN 201410692159 A CN201410692159 A CN 201410692159A CN 104671022 B CN104671022 B CN 104671022B
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Classifications
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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 be used to diagnose the control device of the elevator of brake and the control method of elevator, wherein, the braking
Device is braked to the traction machine for driving lift car.
Background technology
In existing common tractor elevator, car be connected by main rope to focusing in hoistway, main rope
It is wound onto on traction machine in transfusion bottle mode.Here, traction machine is made up of rope sheave, motor and brake, main rope is wound on rope
On wheel.Also, rope sheave and motor connection, the control unit of the control device of elevator is passed according to the rotation such as encoder and/or resolver
The rotary speed of the detected value controlled motor of sensor or rotation position, thus make car smoothly lift.In addition, brake pair
The rotation of rope sheave is braked.
In this tractor elevator, when car stops, making the rotation of rope sheave static using brake, to keep car
It is static.In addition, in the case of certain exception is detected in car traveling process, making car promptly stop by brake
Only.
So, brake be in order that car stationary and arrange, its brake force is required to maintain suitable state.
With regard to such past elevator control gear that can diagnose the brake being braked to rope sheave, some control
Device possesses by making current flow through restraining coil the brake to attract brake shoe to release brake braking force type, utilizes
The encoder of detection rope sheave rotating speed diagnose the brake brake force (the 0010th section of page 3 for example, referring to patent documentation 1 and
Fig. 1, Fig. 2).
In the control device of the elevator of patent documentation 1, first the operation mode of elevator is switched to into diagnostic mode, and
Exist between cage side and counterweight-side weight it is unbalanced in the state of stop car.Also, restraining coil is flow through in control
Attraction electric current brake is gradually discharged, according to come self-encoding encoder pulse data detect car movement.Its result
It is moment that can be started to advance according to car to attract electric current to determine the brake force of brake.
【Patent documentation】
【Patent documentation 1】International Publication WO2011/101978 publication
But, there is a problem of in the prior art as follows.
In the control device of the elevator of patent documentation 1, the braking of brake is implemented under the diagnostic mode without passenger
The measure of power.It is thus impossible to be braked the measure of the brake force of device all the time.
In addition, in order to take the diagnosis for implementing brake in the state of car in passenger, such as when wanting in car
When determining the brake force of brake when starting to advance, due in brake release because uneven caused by the weight difference of car and counterweight
Weighing apparatus torque, car is possible to be moved to unexpected direction.Therefore, it is possible to so that passenger feels uneasiness, the boarding to passenger
Impression brings harmful effect.
The content of the invention
The present invention its object is to precisely in order to solves the problems, such as above-mentioned and propose, there is provided a kind of control of elevator is filled
The control method with elevator is put, even can also diagnose the brake force of brake in the usual operating of non-diagnostic pattern, and
And without compromising on the boarding impression of passenger in car.
The control device of elevator of the invention, the elevator has traction machine, makes to be wound onto by controlling traction machine
The car of the main rope hanging on rope sheave and counterweight lifting, wherein, carrying means become with the rope sheave that can be rotated, drive rope
The brake that the motor of wheel and the rotation to rope sheave are braked, the control device of elevator has：Location/velocity detector, its
The rotation position of detection motor or rotary speed；Control unit, it has motor controling part and brake control section, and in car
The brake force of the brake is diagnosed when generally operating, torque instruction value of motor controling part control for motor so that by
The rotation position of the motor that location/velocity detector is detected or rotary speed become desired response, the brake control section
Attract the electric current of the restraining coil of the brake shoe of brake by control, brake is braked or brake release；And
Uneven torque arithmetic element, its 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 weight of computing car turns with the imbalance of the weight of counterweight
Square, control unit advance direct of travel identical direction with car before the traveling of car starts applies the 1st torque instruction value,
By torque instruction value during 1 torque instruction value of applying, actual torque value, the moment component value of the current value of motor or electricity
Any one in the moment component value of the current instruction value of machine, is stored in the storage part in control unit as the 1st point inspection value,
Control unit enters to exercise the control that the current value of restraining coil gradually increases in the state of the 1st torque instruction value is applied with, thus
The brake force of brake is gradually discharged and make car start advance, and by start advance when restraining coil current value or
Person starts the current instruction value of restraining coil when advancing and is stored in storage part as the 2nd point inspection value, and control unit is by checking
The 1st point inspection value being stored in storage part and the 2nd point inspection value and when advancing being calculated by uneven torque arithmetic element
Uneven torque value between matching diagnosing the brake force of brake.
In addition, the control method of the elevator of the present invention is the controlling party used in the control device of the elevator of the present invention
Method, control unit performs following steps：Apply on the direct of travel identical direction with car in advance before the traveling of car starts
Plus the 1st torque instruction value, it is stored in the 1st torque instruction value as the 1st point inspection value in the storage part in control unit；It is being applied with
Enter to exercise the control that the current value of restraining coil gradually increases in the state of 1st torque instruction value, thus make the braking of brake
Power gradually discharges and makes car start to advance, and the current value for starting restraining coil when advancing is deposited as the 2nd point inspection value
Storage is in storage part；By check in storage part store the 1st point inspection value and the 2nd point inspection value with by uneven torque computing list
Matching between the value of the uneven torque that what n ary operation went out start when advancing, diagnoses the brake force of brake.
Invention effect
According to the present invention, in advance in the direct of travel applying motor torque of car, the brake force of brake is then made gradually
Release, to make car smoothly start to advance.Also, by checking that the imbalance of the weight of the weight and counterweight of car turns
Matching between square and brake current value and motor torque value, the brake force of brake when diagnosis generally operates.Its knot
It is really, using the teaching of the invention it is possible to provide even the boarding without compromising on passenger in car is experienced, also can in the usual operating of non-diagnostic pattern
Enough diagnose the control device and the control method of elevator of the elevator of the brake force of brake.
Description of the drawings
Fig. 1 is the structure chart of the control device of the elevator for illustrating embodiments of the present invention 1.
Fig. 2 is the figure of the action of the control device of the elevator for illustrating embodiments of the present invention 1.
Fig. 3 is the structure chart of the control device of the elevator for illustrating embodiments of the present invention 2.
Fig. 4 is the figure of the action of the control device of the elevator for illustrating embodiments of the present invention 2.
Label declaration
1 car；2 counterweights；3 rope sheaves；4 main ropes；5 location/velocity detectors；6 motors；7 brakes；8th, 38 control unit；
8a, 38a brake control section；8b, 38b motor controling part；31 detectors of load.
Specific embodiment
Below, using description of the drawings the present invention elevator control device and elevator control method preferred embodiment party
Formula.In addition, illustrating to part mark identical label identically or comparably in various figures.
Embodiment 1
Fig. 1 is the structure chart of the control device of the elevator for illustrating embodiments of the present invention 1.In FIG, car 1 and right
Weigh 2 to be hung on rope sheave 3 by means of main rope 4.Main rope 4 is for example made up of a plurality of rope or multi-ribbon.
Motor 6 drives rope sheave 3, so as to car 1 is lifted.Motor 6 has for rotating the braking being braked to it
Device 7, be braked brake 7 by brake control section 8a and brake release action.Brake 7 is by brake disc or brake drum
Deng constitute, by control restraining coil electric current be braked and brake release action.When car 1 is advanced, control for brake
Portion 8a makes current direction restraining coil be powered it to attract brake shoe to be braked the brake release of device 7.Stop in car 1
During only, brake 7 is in on-position, and the electric current of restraining coil is zero.
Location/velocity detector 5 is connected with motor 6.Location/velocity detector 5 be the position for detecting motor 6 or
The detector of speed, generally using encoder or resolver, exports pulse corresponding with the rotation amount of motor 6 or voltage.
Control unit 8 is configured to aforesaid brake control section 8a and motor controling part 8b.Motor controling part 8b is control
The rotation position of motor 6 or the device of rotary speed, are controlled to the rotation of the motor 6 for making to be detected by location/velocity detector 5
Indexing is put or rotary speed becomes desired response.Generally, it is configured to position in the case of the rotation position of controlled motor 6
Control system, in the case of the rotary speed of controlled motor 6 speed control system is configured to.
Fig. 2 is the figure of the action of the control device of the elevator for illustrating embodiments of the present invention 1.Below for motor 6
Control illustrates the action of the control device of the elevator of present embodiment 1 using Fig. 2 using the situation of speed control system.
Epimere in Fig. 2 shows the time waveform of the stalling current for flowing through restraining coil.In addition, the stage casing in Fig. 2 shows
Go out by the torque instruction value of motor controling part 8b computings.Here, motor controling part 8b computings make the speed of car 1 reach expectation
The torque instruction value of the motor 6 of speed, and motor 6.In addition, the hypomere in Fig. 2 shows the speed value of car 1,
With the mode motor 6 for making the speed of car 1 consistent with the speed value of car 1.
Step 1：
The starting order of elevator is transfused in the moment t0 shown in Fig. 2.Here, the stop carried out by using landing button
Call or the car call carried out using destination's button in car 1, are input into the starting order of elevator.In rising for input elevator
During dynamic instruction, 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 produce the torque with the direct of travel equidirectional of car.That is, motor controling part
In the case that 8b is located at the top of current dock floor in destination floor, make to produce torque on the direction risen in car 1,
In the case that destination floor is located at the lower section of current dock floor, make to produce torque on the direction declined in car 1.In addition,
With regard to the size of the 1st torque instruction value τ r0, when the brake braking force of brake 7 is released, for example, consider false when rising
Dead weight in fixed car 1, the minimum loading capacity considered when declining in the car 1 that assumes so that will not be relative to
Drive in the wrong direction in destination floor direction.Now, the 1st torque instruction value τ r0 are stored in advance in control by control unit 8
In storage part (not shown) in portion 8.
Step 2：
Brake control section 8a increases stalling current from moment t0, weakens brake braking force.Brake braking force subtracts
It is weak as a result, brake braking force less than the weight of the weight and counterweight 2 of car 1 uneven torque and torque tau r0 it
The moment of sum, rope sheave 3 starts rotation, and car 1 starts to advance.The moment refers in fig. 2 moment t1.Now, control unit 8 is by the moment
The stalling current Ibk of t1 is stored in advance in the storage part in control unit 8 as the 2nd point inspection value.
In addition, can detect that car 1 starts the moment t1 for advancing according to the output signal of location/velocity detector 5.Example
Such as, in the case where position/speed detector 5 adopts encoder, when pulse change exceedes set value set in advance, detection
Start to advance for car 1.Now, to make car 1 apply motor torque in the way of the movement of destination floor direction, thus car
Move in 1 to destination floor direction.In addition, from moment t0 increase stalling current when, it is also possible to enter exercise its Magnification subtract
Little control, makes stalling current gradually increase, thus, it is possible to accurately detect the stalling current Ibk in moment t1.
Step 3：
Then, moment t1 while stalling current Ibk is stored or after just having stored (hereinafter referred to as " moment
T1 "), motor controling part 8b makes the action of commencing speed control system.Now, speed control system formation speed command value, and
Computing makes the rotary speed of motor 6 follow the torque instruction value of generated speed value, with controlled motor 6.
In addition, in moment t1, brake control section 8a increases stalling current in order to the braking of brake 7 is discharged completely,
After brake 7 is attracted completely, switch to keep the holding electric current of attraction state.Generally, electric current is kept to be than attracting
When the little value of electric current.
As the example of speed value, as shown in the hypomere of Fig. 2, it is set to such as make the starting row of car 1 from moment t1
The speed value for entering.In fig. 2, output make the acceleration of car 1 in the way of reaching fixed value from moment t1 smoothly
The speed value of speedup.
Step 4：
After traveling in car 1 terminates and rests against destination floor, brake control section 8a makes stalling current be reduced to zero,
Braking by brake 7 makes the remains stationary of car 1.Then, torque instruction value is set to zero by motor controling part 8b, makes motor 6
Action stop.
Step 5：
Motor controling part 8b is according to the torque instruction value in advancing in car 1, the car 1 when the traveling of computing elevator starts
With the weight imbalance torque of counterweight 2.The computing is for example as shown in Fig. 2 phase when car 1 can be used to advance with fixed speed
Between the torque instruction value of Δ T1 carry out computing.Or, it is also possible to using in car 1 destination floor is rested against to torque instruction value
The torque instruction value of Δ T2 carries out computing during reaching zero.
The torque instruction value of period Δ T1 is when the weight imbalance torque of car 1 and counterweight 2 and car 1 are advanced
The weight change amount of loss torque, the main rope 4 formed due to the change in location of car 1 and/or controlling cable etc. is added
Arrive.Thus, for example computing deducts the loss torque and main rope 4 from the meansigma methodss of the torque instruction value in period Δ T1
And/or the value that the weight change of controlling cable etc. is measured, as the weight imbalance torque of car 1 and counterweight 2.In addition, row
Loss torque when entering is set in advance set value, either using the value for determining when advancing or recognize.In addition, with regard to main rope
The weight change amount of rope 4 and/or controlling cable etc., because their basis weights are known, it is thus possible to according to car 1
Displacement and the Unit Weight obtained by computing.
The torque instruction value of period Δ T2 is by the weight imbalance torque of car 1 and counterweight 2 and the position because of car 1
The main rope 4 for changing and being formed is added what is obtained with the weight change amount of controlling cable etc..Thus, for example computing is from period Δ
The meansigma methodss of the torque instruction value of T2 deduct the value that the weight change of main rope 4 and controlling cable etc. is measured, used as the He of car 1
The weight imbalance torque of counterweight 2.
Step 6：
Then, by checking the weight imbalance torque of the car 1 and counterweight 2 so obtained and being stored in storage part
The 1st torque instruction value τ r0 (the 1st point inspection value) and stalling current Ibk (the 2nd point inspection value) between matching, judge brake
Whether brake force is normal.Specifically, inspection is followed the steps below.
First, the brake at the moment (equivalent to moment t1) that car 1 starts to advance is obtained according to stalling current Ibk
Power.The brake braking force is obtained according to the relation between the prior stalling current for determining and brake braking force.For example,
Can obtain by referring to the table of the brake braking force being mapped with stalling current, can be changed from stalling current with basis
Calculate the conversion formula for brake braking force to obtain.Alternatively, it is also possible to determine in the maintenance of elevator and update stalling current with system
Relation between dynamic device brake force.
In the case of brake braking force is normal, weight imbalance torque and the 1st torque instruction value τ r0 for so obtaining
Sum should be with brake dynamic balance.Therefore, weight imbalance torque and the 1st torque instruction value τ r0 sums are obtained, and is asked
Go out this and and the difference of brake braking force obtained according to stalling current, in the case that the difference is in reference range, be judged to
Brake braking force is normal.On the other hand, in the case that the difference deviates reference range, it is judged to brake braking force exception.
In the case where brake braking force exception is judged to, taking makes elevator stop service and/or be notified to keep in repair public
The measures such as department.
So, motor torque is applied by the direct of travel in car 1, is detecting that car 1 is defeated while starting to advance
Going out speed value makes car 1 advance, and can start simultaneously at traveling with the action of car 1, and the traveling of car 1 starts detection
When motion become the direct of travel of car 1, it is thus possible to starting motion smoothing ground transition when detecting from the traveling of car 1 is
The traveling of car 1.
As described above, according to embodiment 1, car will not be moved to the opposite direction of direct of travel, it is thus possible to do not damaging
The boarding of passenger in evil car diagnoses the brake force of brake in the case of experiencing.
In addition, being not required to proceed to the diagnostic mode of brake braking force, device brake force can be braked in generally service
Measure, it is thus possible to determine brake braking force on arbitrary opportunity of advancing, and the service of elevator will not be produced and decline.
For example, due to can just be braked the measure of device brake force whenever advancing, it is thus possible in moment detection braking earlier
The exception of device brake force, can prevent trouble before it happens in caused dangerous play to the exception due to brake braking force.
In addition, the torque instruction value computing in being advanced according to car is in the car advanced when starting and the injustice of counterweight
Weighing apparatus torque, it is thus possible to be achieved at low cost.
In addition, in step 2, the detection that the traveling for carrying out car 1 using location/velocity detector 5 starts, but it is also possible to
Detected according to the change of the induced voltage of motor 6, can also be detected by determining the amount of movement of main rope 4.In addition,
Can also be detected by the speed of direct detection car 1 and/or acceleration.
In addition, in step 3, as the speed value of car 1, it is also possible to during by advancing from moment t1 later dead slow speed
Between be set to the long period.Also, the speed for making to seamlessly transit the speed detected for location/velocity detector 5 can also be exported
Command value.
In addition, illustrating that motor controling part 8b constitutes the situation of speed control system in present embodiment 1, position is being constituted
In the case of putting control system, it is also possible to implemented using same method.Now, in step 3, speed control system is replaced
And making position control system carry out action, position control system generates position command value.In addition, it is also possible to arbitrary using other
Control method.
In addition, in step 3, it is also possible within the specified time limit from moment t1, by position control system or speed
The response speed setting of control system becomes the response speed more than standard.For example, in position control system or speed controlling
System by PI control constitute in the case of, can according to proportional gain or the value governing response speed of storage gain so that
Proportional gain or the value changes of storage gain.By so process, when the control system of step 3 carries out action, to instruction
The performance of following of value is improved, it is thus possible to further improve boarding impression.
In addition, in steps of 5, it is also possible to which Δ T1 and period Δ T2 is middle during the two during shown in Fig. 2 implements electricity
The computing of the uneven torque of the weight of car 1 and counterweight 2 that ladder is advanced when starting, and be averaged.By so process, Neng Gouti
High operational precision.Alternatively, it is also possible to be obtained according to the torque instruction value in the middle of the plus/minus of car 1 speed process.Now, according to sedan-chair
The acceleration-deceleration and torque instruction value in railway carriage or compartment 1, obtains the moment of inertia including the elevator including the bearing load in car 1, according to
Obtain in advance not include car 1 in bearing load when elevator the moment of inertia difference, the bearing load in computing car 1,
The weight imbalance torque of union car 1 and counterweight 2.
In addition, employing torque instruction value in the computing of weight imbalance torque, but it is also possible to determine actual torque, also
Moment component can be extracted from the current value of motor 6 to use.
In addition, motor controling part 8b is in the electric current according to torque instruction value controlled motor 6 so that the rotation position of motor 6
Or in the case that rotary speed becomes Expected Response, it is also possible to extract using control the electric current when use for motor
The moment component of 6 current instruction value, to replace torque instruction value.
Equally, it is also possible to replace the torque instruction value in These steps, and use the actual torque value of motor 6, motor 6
Current value moment component value or motor 6 current instruction value moment component in any one value.
For example, in step 1, as the 1st point inspection value, actual torque value, the electricity of the motor 6 in moment t0 can be used
Any one value in the moment component of the moment component value of the current value of machine 6 or the current instruction value of motor 6.
In addition, in the case of constituting current control system when brake control section 8a controls the electric current of restraining coil, front
In each step stated, it is also possible to use the current instruction value of restraining coil used in current control system as stalling current
Value, to replace the current value of restraining coil.
For example, in step 1, as the 2nd point inspection value, the electricity of the restraining coil advanced when starting in moment t1 can be used
Stream command value.
Embodiment 2
In embodiment 1 above, illustrate to transport the torque instruction value of motor 6 according in the traveling process of car 1
The method for calculating uneven torque when starting of advancing.On the other hand, in the method for the explanation of present embodiment 2, it is provided with measure sedan-chair
The detectors of load of the bearing load in railway carriage or compartment 1, according to the bearing capacity in the car 1 of the detection of detectors of load 31, computing is advanced and is opened
Uneven torque during the beginning.In addition, also illustrating that the bearing capacity in the car 1 according to detectors of load detection is set in advance in car
The method of the 1st torque instruction value τ r0 that 1 direct of travel applies.
Fig. 3 is the structure chart of the control device of the elevator for illustrating embodiments of the present invention 2.This embodiment party shown in Fig. 3
The control device of the elevator of formula 2 is characterised by, also with detectors of load 31.Also, the control unit of present embodiment 2 38
According to the bearing capacity in the car 1 that detectors of load 31 is detected, the uneven torque that computing is advanced when starting.It is labelled with and Fig. 1 phases
With label other structures and function it is identical with the embodiment 1 being described above.
Detectors of load 31 is to detect the device of the bearing load in car 1, for example, can utilize and be arranged on below floor
Loading cell etc. realize.In addition, it is also possible to realized by determining the tension force and/or amount of tension of main rope 4.
Fig. 4 is the figure of the action of the control device of the elevator for illustrating embodiments of the present invention 2.Below, illustrated using Fig. 4
The determination step of brake braking force.
Step 1：
The starting order of elevator is transfused in the moment t0 shown in Fig. 4.By using the landing call that landing button is carried out
Or the car call carried out using destination's button in car 1, it is input into the starting order of elevator.Then, detectors of load 31
The bearing load in car 1 is determined, and is sent to motor controling part 38b.Motor controling part 38b exports the 1st torque instruction value τ
R0 ', motor 6 produces torque tau r0 '.
According to the 1st torque instruction value τ r0 ' now of the load value setting in the car 1 determined by detectors of load 31
Size so that the torque of the size for making that car 1 advances to destination floor direction is produced in the braking release of brake 7.
For example, the 1st torque instruction value τ r0 ' are sized to into the uneven torque of the weight of counteracting car 1 and counterweight 2 and in car 1
Destination floor direction on be applied through bearing capacity be scaled authorized load capacity 10～20% or so torque it is big
It is little.
Now, control unit 38 by the weight imbalance torque sum of the 1st torque instruction value τ r0 ' and car 1 and counterweight 2, i.e.
The value of the torque kept by brake 7 i.e. braking moment τ bk, storage part in control unit 38 is stored in (not as the 1st point inspection value
Diagram) in.
Step 2：
It is identical with embodiment 1 above.
Step 3：
Both can carry out and the identical action of embodiment 1 above, it is also possible to add following action.
In moment t1, torque instruction value is changed to make the He of car 1 by motor controling part 38b from the 1st torque instruction value τ r0 '
The 2nd torque instruction value τ r1 that the weight imbalance torque of counterweight 2 mitigates, make speed control system carry out action.In addition, also may be used
So that torque tau r1 to be set to the size with the weight imbalance torque balance of car 1 and counterweight 2.Now, the weight of car 1 and counterweight 2
The uneven torque of amount is offset by motor torque.Later action is identical with embodiment 1 above.
Step 4：
It is identical with embodiment 1 above.
Step 5：
Can omit.
Step 6：
The braking moment τ bk (the 1st point inspection value) kept by brake 7 that stores in step 1 of inspection and in step 2
Matching between the stalling current Ibk (the 2nd point inspection value) of storage, judges whether the brake force of brake 7 is normal.Specifically
Say, by adopt the step identical with embodiment 1 above, according to stalling current Ibk obtain the beginning action of car 1 when
The brake braking force at quarter.Also, the difference of brake braking force and the braking moment τ bk for storing in step 1 is obtained, at this
In the case that difference is in the reference range, it is judged to that brake braking force is normal.In addition, deviateing the feelings of reference range in the difference
Under condition, it is judged to brake braking force exception.Additionally, braking moment τ bk is weight imbalance torque and the 1st torque instruction value τ
R0 ' sums, the step is substantially to be carried out judging with 6 identicals the step of embodiment 1 above.
In the case where brake braking force exception is judged to, taking makes the service stopping of elevator and/or is notified to keep in repair
The measures such as company.
As described above, according to embodiment 2, determining the 1st torque instruction using the detected value of detectors of load in step 1
Value τ r0 ', thus regardless of the load capacity in car, the 1st torque instruction value τ r0 can be sized to such as general
Car is offset with the weight imbalance torque of counterweight and the direct of travel (destination floor direction) in car is applied through carrying
Amount is scaled the size of the torque of 10～20% or so of authorized load capacity.Thereby, it is possible to make to be released in brake braking force
Put, the setting in motion speed of the car of the moment (moment t1) of car setting in motion it is smaller all the time, thus with enforcement above
Mode 1 is compared, and can more stably improve boarding impression.
In addition, by the detected value using detectors of load, in step 3, motor controling part be able to will turn in moment t1
Square command value is changed to mitigate the 2nd torque instruction value τ r1 of car and the weight imbalance torque of counterweight, makes speed control system
Carry out action.Thereby, it is possible to make motor torque more balanced with the imbalance torque of the weight of car and counterweight, it is thus possible to enter one
Step reduces the setting in motion speed of the car after brake braking force just discharges, compared with embodiment 1 above, Neng Goujin
One step improves boarding impression.Also, due to step 5 can be omitted, it is thus possible to cut down the operand of control unit.
In addition, the step of present embodiment 25 and step 6 also can be set to and the identical method of embodiment 1 above.
In this case, in step 1, the 1st torque instruction value τ r0 are stored to replace braking moment τ bk, is changed according to torque instruction value
The value equivalent to braking moment τ bk is obtained in calculation.Therefore, detectors of load 31 detection error than in the case of larger, front
The method of the narration of embodiment 1 in face can more precisely be braked the measure of device brake force.
In addition, illustrating that motor controling part 38b constitutes the situation of speed control system in present embodiment 2, constituting
In the case of position control system, it is also possible to implemented using same method.Now, in step 3, speed control system is replaced
And making position control system carry out action, position control system generates position command value.In addition, the control of motor 6 also can make
With other arbitrary control methods.
In addition, identically with embodiment 1 above, in step 3, it is also possible in the specified time limit from moment t1
It is interior, the response speed setting of position control system or speed control system is become the response speed more than standard.By this
Sample process, when in step 3 control system carries out action, improves, it is thus possible to further improve to the performance of following of command value
Boarding is experienced.
Embodiment 3
In present embodiment 3, illustrate the command value into enforcement speed control system or position control system in car 1
Traveling start when become zero control method.Thereby, it is possible to suppress the car 1 when the brake force of brake 7 discharges
Traveling commencing speed, can further improve boarding impression.
Present embodiment 3 is that the action in embodiment 2 by embodiment 1 above or above has carried out part change
Mode obtained from more.Below, by with the difference of embodiment 1 above centered on illustrate.
Step 1：When the starting order of elevator has been transfused in 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, using position
In the case of putting control system, position control system is set to carry out action, position command value is zero.That is, in the brake force of brake 7
After being released from, motor controling part 8b is set to carry out action in the mode for making car 1 static.Other are identical with embodiment 1 above.
The action of step 2 is identical with embodiment 1 above.But, due to being speed control system or position control
System carries out action, thus diminish in brake braking force, 1 beginning action of car when, control system carries out action, so as to
Suppress the action of car 1, keep car 1 static.
Step 3：Speed control system or position control system carry out in step 1 action, thus proceed action.
Also, identically with embodiment 1 above, the speed value of output speed control system or the position of position control system
Put command value.
The action of step 4～step 6 is identical with embodiment 1 above.
In present embodiment 3, by carrying out speed control system or position control system before brake 7 discharges
Action, and its command value is set to into zero makes it carry out action, can suppress the setting in motion speed of the car 1 when brake 7 discharges
Degree, can further improve boarding impression.Therefore, even in the case that such as torque tau r0 is excessive, it is also possible to more smoothly
The motion advanced when starting is realized, improvement is experienced in boarding.
In addition, making speed control system or position control system carry out action in step 1, thus also may be used in step 1
So that the value of the 1st torque instruction value τ r0 is set to into zero.In this case, when brake 7 discharges, although there is also car 1 to
The opposition side in destination floor direction starts mobile situation, but because speed control system or position control system are carried out
Action, it is thus possible to which suppress car 1 starts movement.
In addition, in step 1, it is more than by the way that the response speed of speed control system or position control system is set to
The value of standard, can suppress when brake 7 discharges car 1 starts movement.But, in the response speed of increase control system
When, control system easily becomes unstable, thus in step 3, it is also possible to after the stipulated time or non-outputing
Zero speed value or the moment of position command value or when brake shoe is attracted completely, make control system
Response speed reverts to the size of standard.
In addition, in present embodiment 3, the control for making car remains stationary plays a role, until the speed of output non-zero
Till degree command value or position command value, thus output speed command value or position command value can be made in step 3
Moment postpones.
In addition, in present embodiment 3, by with the difference of embodiment 1 above centered on be illustrated, but
Embodiment 2 above can be equally applied to.
In addition, illustrate using speed control system and the situation of position control system in the control of motor 6, but can
Using arbitrary control method.
Embodiment 4
Present embodiment 4 is the mode of the condition of the measure for being determined to be braked device brake force according to the position of car 1.
In present embodiment 4, the measure of device brake force is only braked when car 1 is located at top layer position other than around.For example, exist
When the position of car 1 is the position beyond top layer or positioned at the lower position of floor set in advance when or positioned at bottom
It is measured during position.Therefore, it is possible to suppress the setting in motion speed of the car 1 when brake 7 discharges, boarding to experience
Improve.Present embodiment 4 can be applied to embodiment 1～3 above.
In general, starting the vibration of the car 1 when advancing caused by the weight difference with regard to car 1 and counterweight 2, exist i.e.
Make when being that weight difference is identical, also with the tendency for being closely located to top layer and increasing of car 1.This is because being close to top in car 1
During layer, the length from the top of car 1 to traction machine of main rope 4 shortens, the rigidity increase of the main rope 4 of the part.Therefore, lead to
Cross the diagnosis that the position in the top layer being easily deteriorated except boarding impression other than around is braked device brake force, can not make it is right
The boarding impression of elevator is braked the diagnosis of device brake force in the case of being deteriorated.
Alternatively, it is also possible to be, when mounted or elevator service when, be braked the survey of device brake force in all floors
It is fixed, boarding impression is judged according to the setting in motion speed of the car 1 in moment t1, only in setting in motion speed less than reference value
Floor is braked the measure of device brake force.Alternatively, it is also possible to determine the acceleration of car 1, replace measure car 1 starts fortune
Dynamic speed.
Embodiment 5
Present embodiment 5 is the side of the condition of the measure for being determined to be braked device brake force according to the bearing load of car 1
Formula.In present embodiment 5, only device is braked when the bearing load in car 1 is zero carrying state other than around
The measure of brake force.For example, the bearing load in car 1 is the half of specified bearing load or more than carrying set in advance
It is measured in the case of load value.Therefore, it is possible to suppress the setting in motion speed of the car 1 when brake 7 discharges, boarding
Experience improvement.Present embodiment 5 can be suitable for the detectors of load with car 1 embodiment 2～4 above
31 situation.
For example, it is by the weight of car 1 and counterweight 2 such as size is applied in 1 the step of embodiment 2 above
Uneven torque is offset and the direct of travel in car is applied through bearing capacity and is scaled the X% of authorized load capacity (X is
Arbitrary value) size torque torque instruction value when, exist car 1 bearing load it is less when, the sedan-chair when brake 7 discharges
Railway carriage or compartment vibrates larger tendency.This is because when the bearing load of car 1 is less, the inertia of the part driven by traction machine compared with
It is little, thus the setting in motion speed increase of the car 1 relative to weight imbalance torque.
Therefore, by being (situation less equivalent to passenger) near zero in the bearing load being easily deteriorated except boarding impression
Position in addition is braked the measure of device brake force, can be braked in the case where the boarding for not making elevator is experienced and is deteriorated
The measure of device brake force.
Alternatively, it is also possible to be, when mounted or in the service of elevator, it is braked under conditions of bearing load difference
The measure of device brake force, judges boarding impression, only in setting in motion speed according to the setting in motion speed of the car 1 in moment t1
Less than reference value bearing load when be braked the measure of device brake force.Alternatively, it is also possible to be, sedan-chair is determined in aforementioned processing
The acceleration in railway carriage or compartment 1, replaces the setting in motion speed for determining car 1.
Claims (11)
1. a kind of control device of elevator, the elevator has traction machine, makes to be wound onto on rope sheave by controlling the traction machine
Main rope hanging car and counterweight lifting, wherein, the traction machine has the rope sheave that can be rotated, drives the rope
The brake that the motor of wheel and the rotation to the rope sheave are braked, wherein, the control device of the elevator has：
Location/velocity detector, the rotation position of its detection motor or rotary speed；
Control unit, it has motor controling part and brake control section, and diagnoses the braking in the usual operating of the car
The brake force of device, torque instruction value of the motor controling part control for the motor so that by the location/velocity detector
The rotation position of the motor for detecting or rotary speed become desired response, and the brake control section is attracted by controlling
The electric current of the restraining coil of the brake shoe of the brake, is braked or brake release to the brake；And
Uneven torque arithmetic element, its according to the torque instruction value, actual torque value, the current value of the motor torque
Any one in the moment component value of the current instruction value of signal component value or the motor, the weight of car described in computing with
The uneven torque of the weight of the counterweight,
The control unit is before the traveling of the car starts in advance in the direct of travel identical direction applying with the car
1st torque instruction value, the torque instruction value, actual torque value, motor when will apply 1 torque instruction value
Any one in the moment component value of the moment component value of current value or the current instruction value of the motor, as the 1st point
Inspection value is stored in the storage part in the control unit,
The control unit enters the current value for exercising the restraining coil gradually in the state of the 1st torque instruction value is applied with
The control of increase, thus makes the brake force of the brake gradually discharge and makes the car start to advance, and by starting row
The current value of restraining coil when entering or start advance when the restraining coil current instruction value as the 2nd point inspection
Value is stored in the storage part,
The control unit passes through to check the 1st point inspection value and the 2nd point inspection value that are stored in the storage part and by institute
State the matching between the value for starting described uneven torque when advancing that uneven torque arithmetic element is calculated to diagnose
The brake force of the brake.
2. the control device of elevator according to claim 1, wherein,
The torque for the motor of the uneven torque arithmetic element according to the car during traveling refers to
Make value, described uneven torque when advancing is started described in computing.
3. the control device of elevator according to claim 1 and 2, wherein,
The control device of the elevator also has the detectors of load of the bearing capacity in the detection car,
The bearing capacity computing institute in the car that the uneven torque arithmetic element is detected according to the detectors of load
State and start the value of described uneven torque when advancing, and computing is not carried out according to the torque instruction value,
The bearing capacity in the car that the control unit is detected according to the detectors of load sets the 1st torque instruction
Value.
4. the control device of elevator according to claim 3, wherein,
The motor controling part becomes the torque instruction value from the 1st torque instruction value after the car starts to advance
The 2nd torque instruction value for more mitigating the uneven torque.
5. the control device of elevator according to claim 1 and 2, wherein,
The control unit only in the case where the car is located in hoistway below floor set in advance, carries out the brake
Brake force diagnosis.
6. the control device of elevator according to claim 1 and 2, wherein,
The control unit only in the case of the loaded state that the bearing load of the car becomes more than value set in advance, enters
The diagnosis of the brake force of the row brake.
7. the control device of elevator according to claim 1 and 2, wherein,
The motor controling part has the speed control system of the speed of the control motor or controls the position of the motor
Position control system, by the car starting advance after control the torque instruction value, using the speed controlling system
System or the position control system control the traveling of the car.
8. the control device of elevator according to claim 7, wherein,
The motor controling part is controlled so that before the traveling of the car starts and advance start when the speed controlling
The position command value of the speed value of system or the position control system is zero.
9. the control device of elevator according to claim 7, wherein,
The motor controling part is set to the response speed of the speed control system or the position control system, described
In specified time limit of the car after starting to advance, more than the response speed after the specified time limit.
10. the control device of elevator according to claim 9, wherein,
The motor controling part refers to the moment for starting traveling from the car, the speed for exporting non-zero to the motor controling part
During making till value or position command value or during the brake shoe is by attracting completely, it is set as described
Specified time limit.
A kind of 11. control methods of elevator, the method is the control used in the control device of the elevator described in claim 1
Method, the control unit performs following steps：
Before the traveling of the car starts, apply the 1st torque in the direct of travel identical direction with the car in advance and refer to
Value is made, the 1st torque instruction value is stored in the storage part in the control unit as the 1st point inspection value；
Enter to exercise the control that the current value of the restraining coil gradually increases in the state of the 1st torque instruction value is applied with
System, the brake force of the brake is gradually discharged and make the car start advance, and by it is described start advance when
The current value of the restraining coil be stored in the storage part as the 2nd point inspection value；And
By checking the 1st point inspection value and the 2nd point inspection value that are stored in the storage part and being turned by the imbalance
Matching between the value for starting described uneven torque when advancing that square arithmetic element is calculated is diagnosing the system
The brake force of dynamic device.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2013-243643 | 2013-11-26 | ||
| JP2013243643 | 2013-11-26 | ||
| JP2014-173513 | 2014-08-28 | ||
| JP2014173513A JP6218706B2 (en) | 2013-11-26 | 2014-08-28 | Elevator control device and elevator control method |
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| CN104671022A CN104671022A (en) | 2015-06-03 |
| CN104671022B true CN104671022B (en) | 2017-04-12 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2018024483A (en) * | 2016-08-08 | 2018-02-15 | 株式会社日立製作所 | Elevator |
| WO2018100632A1 (en) * | 2016-11-29 | 2018-06-07 | 三菱電機株式会社 | Elevator control device and elevator control method |
| JP6742516B2 (en) * | 2017-05-25 | 2020-08-19 | 三菱電機株式会社 | Elevator control equipment |
| WO2018235183A1 (en) * | 2017-06-21 | 2018-12-27 | 三菱電機株式会社 | Elevator control device, and elevator control method |
| WO2020202249A1 (en) * | 2019-03-29 | 2020-10-08 | 三菱電機株式会社 | Elevator control device |
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| CN1300708A (en) * | 1999-12-17 | 2001-06-27 | 三菱电机大楼技术服务株式会社 | Device for adjusting braking moment of elevator |
| CN101932520A (en) * | 2008-04-08 | 2010-12-29 | 三菱电机株式会社 | Elevator device and method of testing the same |
| JP2011032049A (en) * | 2009-08-03 | 2011-02-17 | Mitsubishi Electric Corp | Elevator device |
| JP5011964B2 (en) * | 2006-11-08 | 2012-08-29 | 三菱電機株式会社 | Elevator apparatus and elevator control method |
| CN102762481A (en) * | 2010-02-19 | 2012-10-31 | 三菱电机株式会社 | Elevator device |
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| CN1300708A (en) * | 1999-12-17 | 2001-06-27 | 三菱电机大楼技术服务株式会社 | Device for adjusting braking moment of elevator |
| JP5011964B2 (en) * | 2006-11-08 | 2012-08-29 | 三菱電機株式会社 | Elevator apparatus and elevator control method |
| CN101932520A (en) * | 2008-04-08 | 2010-12-29 | 三菱电机株式会社 | Elevator device and method of testing the same |
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