CN1098069A - Elevator control gear - Google Patents
Elevator control gear Download PDFInfo
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- CN1098069A CN1098069A CN 94105221 CN94105221A CN1098069A CN 1098069 A CN1098069 A CN 1098069A CN 94105221 CN94105221 CN 94105221 CN 94105221 A CN94105221 A CN 94105221A CN 1098069 A CN1098069 A CN 1098069A
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- mentioned
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- car
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Abstract
Do not need the objective of the invention is to add special device also can be correctly changes the output of passing in time of the weighting apparatus that detects the lift car internal burden and revises.The present invention adopts vibration-stopper gum (12) resilient mounting car (10), and weighting apparatus (13) is set, by the load in the deflection detection car (10) that detects vibration-stopper gum (12).Read the output voltage V of weighting apparatus (13) by microcomputer (14)
w, calculate the torque that electrical motor (5) produces in car (10) traveling process.Calculate the correction voltage that the output voltage of (13) is put in the symmetry refitting according to this torquemeter of calculating, the output voltage of weighting apparatus (13) is revised.
Description
The present invention relates to by adopt detecting the weighting apparatus of car internal burden the device that elevator is controlled.
Elevator now starts control by the weighting apparatus that detects the car internal burden is set adaptably with the car internal burden, suppresses starting-impact with compensation because of the overbalance torque that the weight difference of car and balanced weight produces.Weighting apparatus comprises the parts such as differential transformer that are contained in below the car, by detecting the car resilient mounting in the vibration-stopper gum of car frame and so on elastomeric deflection, measures the load in the car.
Generally be used for the vibration-stopper gum of car resilient mounting in car frame, its deflection changes with the aging of material, and the output valve of weighting apparatus also will change and causes error like this.Therefore need termly the output valve of weighting apparatus to be revised.This correction in real work by to car loadage cut or polish jade with an emery wheel and adjust, this operation expends a large amount of labours, time and expense.
As the technology of improving the problem of going up, for example there is the Japanese patent gazette spy to open the elevator control gear scheme that goes up report for flat 4-338072 number.It installs the CCD(charge-coupled device that adopts charge coupled cell in car) pick up camera, by the output that image processing apparatus is gathered this pick up camera, after the affirmation car is no-load condition, the output of weighting apparatus is revised.
Above-mentioned this existing elevator control gear employing ccd video camera and image processing apparatus detect car and are in no-load condition, so that weighting apparatus is revised.Yet devices such as pick up camera cost an arm and a leg, and it is not economic being used for weighting apparatus correction.
Purpose of the present invention just is to address the above problem, and providing does not need additional special device, the just elevator control gear that can correctly revise weighting apparatus.
The 1st the related elevator control gear of invention of the present invention comprises: the load signal of input weighting apparatus output, and the torque control unit of calculating motor torque; In the car traveling process, calculate the correction voltage operational device of the output correction voltage of weighting apparatus according to the output of torque control unit; According to the output of revising the voltage operational device, the voltage correcting device of weighing that the output voltage of weighting apparatus is revised.
The 2nd the related elevator control gear of invention of the present invention has the 1st torque control unit, correction voltage operational device and the voltage correcting device of weighing in the invention, also comprise the output of the voltage correcting device of weighing when starting, the control device for starting of the load signal that compensates in order to the overbalance torque that the weight difference because of car and balanced weight is produced to torque control unit output according to car.
The 3rd the related elevator control gear of invention of the present invention has the 1st torque control unit, correction voltage operational device and the voltage correcting device of weighing in the invention, and, detect the overload detecting device of car overload according to the output of the voltage correcting device of weighing.
The 4th the related elevator control gear of invention of the present invention has the 1st torque control unit in the invention, revise the voltage operational device and the voltage correcting device of weighing, and, respectively many cars are detected the load factor detecting device of load factor according to the output of the voltage correcting device of weighing.
In the 1st invention of the present invention, be output voltage according to weighting apparatus, in the car traveling process, calculate motor torque, in view of the above the output voltage of weighting apparatus is revised, so the output voltage of weighting apparatus is revised by computing.
In the 2nd invention of the present invention, it is output voltage according to weighting apparatus, in the car traveling process, calculate motor torque, in view of the above the output voltage of weighting apparatus is revised, and according to this correction the overbalance torque that the weight difference because of car and balanced weight produces is compensated, so the overbalance torque is compensated according to above-mentioned correction.
In the 3rd invention of the present invention, output voltage according to weighting apparatus, in the car traveling process, calculate motor torque, in view of the above the output voltage of weighting apparatus is revised, and detect the overload of car according to this correction, so overload is detected according to above-mentioned correction.
In the 4th invention of the present invention, output voltage according to weighting apparatus, in the car traveling process, calculate motor torque, in view of the above the output voltage of weighting apparatus is revised, and respectively many cars are detected load factor according to this correction, so the load factor of car is detected according to above-mentioned correction.
As mentioned above, in the 1st invention of the present invention, it is output voltage according to weighting apparatus, in the car traveling process, calculate motor torque, in view of the above the output voltage of weighting apparatus is revised, therefore the output voltage of weighting apparatus is revised by computing, and its effect is not need the special device that is provided for revising.
In the 2nd invention of the present invention, it is output voltage according to weighting apparatus, in the car traveling process, calculate motor torque, in view of the above the output voltage of weighting apparatus is revised, and the overbalance torque that the weight difference because of car and balanced weight produces is compensated according to this correction, therefore the overbalance torque is compensated according to above-mentioned correction, passes in time and changes also and can correctly suppress starting-impact always even its effect is the detected value of car internal burden.
In the 3rd invention of the present invention, it is output voltage according to weighting apparatus, in the car traveling process, calculate motor torque, in view of the above the output voltage of weighting apparatus is revised, and detect the overload of car according to this correction, its effect is and can correctly detects the overload state always, improved safety.
In the 4th invention of the present invention, it is output voltage according to meausring apparatus, in the car traveling process, calculate motor torque, in view of the above the output voltage of weighting apparatus is revised, and respectively many cars are detected load factor according to this correction, its effect is can correctly detect load factor always, can realize suitable group's management and group control.
Fig. 1 is the overall pie graph of embodiments of the invention 1-embodiment 3.
Fig. 2 is the functional structure chart of the microcomputer among Fig. 1.
Fig. 3 is speed value and the motor torque diagram of curves when the staffing state rises operation down among Fig. 1.
Fig. 4 is the weighting apparatus corrective action diagram of circuit of embodiments of the invention 1.
Fig. 5 is the weighting apparatus corrective action diagram of circuit of embodiments of the invention 2.
Fig. 6 is the weighting apparatus corrective action diagram of circuit of embodiments of the invention 3.
Embodiments of the invention are described with reference to the accompanying drawings.
Embodiment 1
Fig. 1-Fig. 4 is an embodiment of the 1st and the 2nd invention of the present invention.Fig. 1 is overall pie graph, and Fig. 2 is the functional structure chart of microcomputer, and Fig. 3 is speed value and the motor torque diagram of curves when rising operation under the staffing state, and Fig. 4 is a weighting apparatus corrective action diagram of circuit, the part that identical symbolic representation is identical.
Among Fig. 1, (1) is three-phase alternating-current supply, (2) be that three-phase alternating current is become straight-though along changer, (3) be the level and smooth smoothing cond of output direct current that makes along changer (2), (4) be the inverter that direct current is become interchange, (5) be to be connected to inverter (4) to exchange the car elevator three-phase induction motor of surveying, it (6A)-(6C) is the current transformer that detects the electric current of electrical motor (5), (7) be the rotating disk coder that detects the rotating speed of electrical motor (5), (8) be the driving rope sheave that drives by electrical motor (5), (9) be that volume is hung on the main cable that drives rope sheave (8), its two is being connected with balanced weight (11) with car (10) respectively.
(12) be to be contained in below the car (10), resilient mounting the vibration-stopper gum of car, (13) be the weighting apparatus that the differential transformer by the deflection that detects vibration-stopper gum (12) constitutes, (14) be the microcomputer that elevator is controlled, it comprises: central processor CPU (14A), read only memory ROM (14B), random access memory ram (14C), the timer (14D) counted of cycle to regulation, send pulse width modulation (PWM) circuit (14E) of switch order, analog quantity is become the A/D converter (14F) of digital quantity, counting machine of count pulse (14G) and the A/D converter (14H) that analog quantity is become digital quantity.
And these components are that bus (141) with transport address and data is being connected, pwm circuit (14E) connects inverter (4), A/D converter (14F) connects current transformer (6A)-(6C), counting machine (14G) connects rotating disk coder (7), and A/D converter (14H) connects weighting apparatus (13).
Among Fig. 2, (17) be the speed instruction device that produces the elevator speed command value, (18) be adder, (19) be the speed control unit of calculating motor (5) rotating speed, (20) be adder, (21) be the torque control unit of calculating motor (5) torque, (22) be adder, (23) be the current control device that calculates the electric current of supplying with to electrical motor (5), (24) be the correction voltage operational device that calculates the output correction voltage of weighting apparatus (13), (25) are the voltage correcting devices of weighing that the output voltage of weighting apparatus (13) is revised.
The following describes the service condition of present embodiment.
Passenger one enters the car (10) that is stopping, and vibration-stopper gum (12) just is compressed, and weighting apparatus calculates the weight of passenger in the car (10) by the amount of compression that detects vibration-stopper gum (12).The output of weighting apparatus (13) is converted to digital quantity by A/D converter (14H), inputs to microcomputer (14).
Car (10) one is sent walking instruction, the output voltage V of weighting apparatus (13)
w(V) just read in by microcomputer (14) by A/D converter (14H), make torque control unit (21) work, torque control unit calculates the torque T that produces because of the weight difference between load weight in the car (10) and balanced weight (11) weight according to following formula
w(Kgm).
T
w＝K（V
w-V
cwt）R ……（1）
In the formula, K: the load weight in the car (10) is to the conversion factor (Kg/V) of the output voltage of weighting apparatus (13)
V
Cwt: the output voltage (V) the when total weight of measuring balanced weight (11) by weighting apparatus (13) deducts the weight of car (10) deadweight part
R: the effective radius (m) that drives rope sheave (8)
According to the action of torque control device (21), the electric current of supplying with to electrical motor (5) is calculated in current control device (23) work, and pwm circuit (14E) work is sent switch order to inverter.So electric current flows through electrical motor (5), shown in Fig. 3 (b), time t=0-t
1During this time, torque T=T
w, electrical motor produces in order to offset the torque of above-mentioned weight difference.
The electric current of electrical motor (5) is by current transformer (6A)-(6C) detect, and (14F) is converted to digital quantity by A/D converter, feeds back to adder (22).In this state, if throw off the drg (not shown) that constraint drives rope sheave (8), above-mentioned weight difference will be offset by the torque that electrical motor (5) produces, and unlikely freeing because of braking adds impact to car.This action generally is referred to as starting and weighs.
After action was weighed in starting, for making car (10) walking, speed instruction device (17) was at the time t=t shown in Fig. 3 (a)
1-t
4Produce speed value during this time.Time t=t
1-t
2Between be period of acceleration, time t=t
2-t
3Between be at full speed during, time t=t
3-t
4Between be between deceleration period.The speed value action that speed control unit (19) produces according to speed instruction device (17), the rotating speed of calculating motor (5).Torque control unit (21) is according to speed value action, the torque of calculating motor (5).
Current control device (23) work, the electric current that calculating is supplied with to electrical motor (5), then pwm circuit (14E) work, send switch order to inverter (4), therefore electric current flows through electrical motor (5), electrical motor (5) rotates, the speed value walking that car (10) produces according to speed instruction device (17).The rotating speed of electrical motor (5) is detected by rotating disk coder (7), and the pulse that counting machine (14G) counting rotating disk coder (7) produces feeds back to adder (18).
The situation of weighing with starting is the same, and the electric current of electrical motor (5) feeds back to adder (22) by current transformer (6A)-(6C) detect by A/D converter (14F).Come to control accurately the speed of travel of car (10) like this.
It is in service to rise under the staffing state, the torque that electrical motor (5) is produced, i.e. torque control unit (21) torque of calculating such as the time t=t of Fig. 3 (b)
1-t
4Between shown in.At t=t
1-t
2Period of acceleration, quicken in order to make car (10), need big torque, the maxim of torque reaches Ta.At t=t
2-t
3Full speed during, the torque Tc that need require because of the difference of the weight of the weight and balance of car (10) stone roller (11).At t=t
3-t
4Deceleration period between, slow down for making car (10), torque reaches minimum value T
d
Torque T when action is weighed in starting
WTorque T when advancing with full speed
cBetween relation generally can following formula express.
T
c＝T
W+T
o……（2）
T
c＝T
w-T
o……（3）
T in the formula
oBe the torque that produces because of hoist trunk efficient, promptly be equivalent to the torque of hoist trunk loss, when the power operation of staffing state rising and so on, adopt (2) formula, employing (3) formula when the regeneration operation of staffing state decline and so on.The brief acceleration of advancing at full speed is zero, the torque T when therefore advancing at full speed
cTorque T when weighing action with starting
wBetween difference only be the torque T of above-mentioned hoist trunk loss part
o
Below with reference to Fig. 4 the weighting apparatus corrective action is described.The procedure stores of its diagram of circuit is at the ROM(14B of microcomputer (14)) in, the every action of timer (14D) once, microcomputer (14) cycle is according to the rules returned capable this program of retry.
(31) step was to judge whether car (10) starting order has sent, if starting order is sent, just entered for (32) step, microcomputer reads in the output voltage V of weighting apparatus (13) by A/D converter (14H)
w(33) step (the voltage correcting device of weighing) was according to the correction voltage V that mentions later
e, according to
V
w←V
w+V
e
To voltage V
wRevise.But because revise voltage V
eInitial value be zero, so do not revise in the initial computing behind power connection.
Then, (34) step (control device for starting) is according to revised voltage V
w, according to (1) formula calculating torque T
w, start and weigh.Car begins walking, at time t=t
2In time, reach at full speed, steps to (36) from (35) and go on foot, according to the direct of travel of car (10) and the torque T that is calculated by torque control unit (21)
cJudge that present operation is power operation or regeneration operation.In service in rising, if torque T
CBe positive be the power operation, if torque T
cBe positive be the power operation, if torque T
CBe then moving of bearing for regeneration.And in service in decline, if torque T
cBe positive be the regeneration operation, if torque be bear move for power.
During the power operation, (37) step was calculated the computing value V that weighs according to following formula
c
V
c＝（T
c-T
o）/（K·R）+V
cwt……（4）
With (2) formula substitution (4) formula,
V
c＝T
w/（K·R）+V
cwt，
What as seen, (4) formula was represented is to be equivalent to weighing measurement value V
wVoltage.
In like manner, during the regeneration operation, (38) step was calculated the computing value V that weighs according to following formula
c
V
c＝（T
c+T
o）/（K·R）+V
cwt……（5）
With (3) formula substitution (5) formula,
V
c＝T
w/（K·R）+V
cwt，
(5) formula also represents to be equivalent to weighing measurement value V
wVoltage.
Then, (39) step is with voltage V
cWith voltage V
wSize compare, if the difference of the two greater than the regulation value V
s, (40) step calculating voltage V
cWith voltage V
wPotential difference, promptly revise voltage V
e,
V
e＝V
c-V
w。
At next execution cycle, (33) step is to weighing measurement value V
wRevise, (34) step was utilized weighing measurement value V
wStart the action of weighing,, also can correctly compensate the unbalance load that produces because of the weight difference between car (10) and the balanced weight (11) even the detected value of the middle load of car (10) is passed in time and changed.(37)-(40) step was the work of revising the voltage operational device.
Fig. 5 is the weighting apparatus corrective action diagram of circuit of an embodiment of the 3rd invention of the present invention, and the part identical with Fig. 4 is with identical symbolic representation.Fig. 1-Fig. 3 also is applicable to embodiment 2.
(41) step (overload detection) is according to revised weighing measurement value V
wDetect the load in the car (10),, send warning with regard to making the buzzer phone in the car (10) if load surpasses specified value.Also can correctly detect the overload state in this case.Other are identical with Fig. 4.
Embodiment 3
Fig. 6 is the weighting apparatus corrective action diagram of circuit of an embodiment of the 4th invention of the present invention, and the part identical with Fig. 4 is with identical symbolic representation.Fig. 1-Fig. 3 also is applicable to embodiment 3.
(51) step (load factor detection) was according to revised weighing measurement value V
wDetect the load factor of car (10), turn to specific operation.If many cars (10) are arranged, then such as everyone knows, many cars (10) as a group, are carried out group's management of operation.If the load factor of car (10) surpasses the value of regulation, just turn to specific operation, for example hall call or working peak load operation etc.Also can correctly detect load factor in this case.Other are identical with Fig. 4.
In the various embodiments described above, when operation regeneration also will be revised weighting apparatus, if but only either party is just correct after revising to power operation or regeneration operation, then can only when carrying out above-mentioned either party's operation, revise.
Claims (4)
1, a kind of elevator control gear, it is characterized in that it possesses torque control unit, revises the voltage operational device and the voltage correcting device of weighing, above-mentioned torque control unit comprises that the interlocking matrix to car and balanced weight carries out drive electric motor and by detecting the load in the above-mentioned car, the weighting apparatus of output load signal correspondingly calculates the torque of above-mentioned electrical motor generation according to the above-mentioned load signal of input; Above-mentioned correction voltage operational device according to the output of above-mentioned torque control unit, calculates the correction voltage that above-mentioned weighting apparatus output is revised in order in above-mentioned car traveling process; The above-mentioned voltage correcting device of weighing is in order to revise the output voltage of above-mentioned weighting apparatus according to the output of above-mentioned correction voltage operational device.
2, a kind of elevator control gear, it is characterized in that it possesses torque control unit, revise voltage operational device, weigh voltage correcting device and control device for starting, above-mentioned torque control unit comprises that the interlocking matrix to car and balanced weight carries out drive electric motor and detects load in the above-mentioned car and the weighting apparatus of output load signal correspondingly, calculates the torque that above-mentioned electrical motor produces according to the above-mentioned load signal of input; Above-mentioned correction voltage operational device according to the output of above-mentioned torque control unit, calculates the correction voltage that above-mentioned weighting apparatus output is revised in order in above-mentioned car traveling process; The above-mentioned voltage correcting device of weighing is revised the output voltage of above-mentioned weighting apparatus in order to according to the output of revising the voltage operational device; Above-mentioned control device for starting is exported above-mentioned load signal to above-mentioned torque control unit, in order to when the starting of above-mentioned car according to the output of the above-mentioned voltage correcting device of weighing, the overbalance torque that the weight difference because of above-mentioned car and balanced weight is produced compensates.
3, a kind of elevator control gear, it is characterized in that it possesses torque control unit, revises voltage operational device, weigh voltage correcting device and overload detecting device, above-mentioned torque control unit comprises that the interlocking matrix to car and balanced weight carries out drive electric motor and detects load in the above-mentioned car and the weighting apparatus of output load signal correspondingly, calculates the generation torque of above-mentioned electrical motor according to the above-mentioned load signal of input; Above-mentioned correction voltage operational device according to the output of above-mentioned torque control unit, calculates the correction voltage that the output of above-mentioned weighting apparatus is revised in order in above-mentioned car traveling process; The above-mentioned voltage correcting device of weighing is revised the output voltage of above-mentioned weighting apparatus in order to according to the output of revising the voltage operational device; Above-mentioned overload detecting device detects the overload of above-mentioned car in order to the output according to the voltage correcting device of weighing.
4, a kind of elevator control gear, it is characterized in that it possesses torque control unit, revises voltage operational device, weigh voltage correcting device and load factor detecting device, above-mentioned torque control unit comprises that the interlocking matrix to car and balanced weight carries out drive electric motor and by detecting the load in the above-mentioned car, the weighting apparatus of output load signal correspondingly calculates the generation torque of above-mentioned electrical motor according to the above-mentioned load signal of input; Above-mentioned correction voltage operational device according to the output of above-mentioned torque control unit, calculates the correction voltage that the output of above-mentioned weighting apparatus is revised in order in above-mentioned car traveling process; The above-mentioned voltage correcting device of weighing is revised the output voltage of above-mentioned weighting apparatus in order to according to the output of revising the voltage operational device; Above-mentioned load factor detecting device detects the load factor of many above-mentioned cars respectively in order to the output according to the voltage correcting device of weighing.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5108663A JPH06321440A (en) | 1993-05-11 | 1993-05-11 | Elevator controller |
| JP108663/93 | 1993-05-11 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1098069A true CN1098069A (en) | 1995-02-01 |
| CN1035051C CN1035051C (en) | 1997-06-04 |
Family
ID=14490530
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN94105221A Expired - Fee Related CN1035051C (en) | 1993-05-11 | 1994-05-05 | Unit for controlling elevator |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JPH06321440A (en) |
| KR (1) | KR970006584B1 (en) |
| CN (1) | CN1035051C (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101717031B (en) * | 2009-12-18 | 2012-05-23 | 日立电梯（中国）有限公司 | Sightseeing elevator cage |
| CN109328175A (en) * | 2016-06-30 | 2019-02-12 | 三菱电机株式会社 | The control device of elevator |
| CN110316629A (en) * | 2018-03-30 | 2019-10-11 | 上海三菱电梯有限公司 | Elevator meausring apparatus auto-correction method |
| CN113044693A (en) * | 2019-12-26 | 2021-06-29 | 株式会社日立制作所 | Elevator control device and elevator control method |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6488128B1 (en) * | 2000-12-12 | 2002-12-03 | Otis Elevator Company | Integrated shaft sensor for load measurement and torque control in elevators and escalators |
| JP4727234B2 (en) * | 2005-01-14 | 2011-07-20 | 三菱電機株式会社 | Elevator equipment |
| WO2008099470A1 (en) * | 2007-02-14 | 2008-08-21 | Mitsubishi Electric Corporation | Elevator |
| KR101261763B1 (en) * | 2009-06-08 | 2013-05-07 | 미쓰비시덴키 가부시키가이샤 | Control device for elevator |
| WO2012160888A1 (en) | 2011-05-20 | 2012-11-29 | 三菱電機株式会社 | Elevator apparatus |
| CN105523455A (en) * | 2015-11-02 | 2016-04-27 | 康力电梯股份有限公司 | Elevator weighing device |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4380275A (en) * | 1981-06-24 | 1983-04-19 | Elevator Gmbh | Apparatus for interfacing weighing data with a lift control system |
| JPS6023268A (en) * | 1983-07-18 | 1985-02-05 | 三菱電機株式会社 | Speed controller for elevator |
| US4939679A (en) * | 1988-08-09 | 1990-07-03 | Otis Elevator Company | Recalibrating an elevator load measuring system |
-
1993
- 1993-05-11 JP JP5108663A patent/JPH06321440A/en active Pending
-
1994
- 1994-05-05 CN CN94105221A patent/CN1035051C/en not_active Expired - Fee Related
- 1994-05-09 KR KR1019940010140A patent/KR970006584B1/en not_active IP Right Cessation
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101717031B (en) * | 2009-12-18 | 2012-05-23 | 日立电梯（中国）有限公司 | Sightseeing elevator cage |
| CN109328175A (en) * | 2016-06-30 | 2019-02-12 | 三菱电机株式会社 | The control device of elevator |
| CN109328175B (en) * | 2016-06-30 | 2021-01-05 | 三菱电机株式会社 | Control device for elevator |
| CN110316629A (en) * | 2018-03-30 | 2019-10-11 | 上海三菱电梯有限公司 | Elevator meausring apparatus auto-correction method |
| CN110316629B (en) * | 2018-03-30 | 2021-10-08 | 上海三菱电梯有限公司 | Automatic correction method for elevator weighing device |
| CN113044693A (en) * | 2019-12-26 | 2021-06-29 | 株式会社日立制作所 | Elevator control device and elevator control method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1035051C (en) | 1997-06-04 |
| KR970006584B1 (en) | 1997-04-29 |
| JPH06321440A (en) | 1994-11-22 |
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