CN110723612B - Elevator control device and speed governor rope expansion amount estimation method - Google Patents
Elevator control device and speed governor rope expansion amount estimation method Download PDFInfo
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- CN110723612B CN110723612B CN201910941480.4A CN201910941480A CN110723612B CN 110723612 B CN110723612 B CN 110723612B CN 201910941480 A CN201910941480 A CN 201910941480A CN 110723612 B CN110723612 B CN 110723612B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/3415—Control system configuration and the data transmission or communication within the control system
- B66B1/3423—Control system configuration, i.e. lay-out
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/3492—Position or motion detectors or driving means for the detector
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B7/00—Other common features of elevators
- B66B7/12—Checking, lubricating, or cleaning means for ropes, cables or guides
- B66B7/1207—Checking means
- B66B7/1215—Checking means specially adapted for ropes or cables
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Indicating And Signalling Devices For Elevators (AREA)
- Elevator Control (AREA)
- Maintenance And Inspection Apparatuses For Elevators (AREA)
Abstract
An elevator control device (16) is provided with a current position calculator (21) for calculating the current position of a car according to the count value of a speed governor encoder (15), the current position calculator (21) calculates the movement amount from the state that any floor plate of floor plates (9, 10) arranged corresponding to each floor position of a building is detected by floor plate detectors (12, 13) and the elevator car stops to the state that the floor plates (9, 10) cannot be detected, and estimates the count error of the speed governor encoder caused by the expansion and contraction of a speed governor rope by comparing the calculated movement amount with the actual length of the floor plate, thereby estimating the expansion and contraction amount of the speed governor rope at the floor starting to move.
Description
This application is a divisional application of an invention patent application having an application date of 2015, 06, 19 and an application number of 201580081024.7, entitled "elevator control device and speed governor rope expansion and contraction amount estimation method".
Technical Field
The present invention relates to an elevator control device and a speed governor rope expansion amount estimation method, which estimate an error of a speed governor encoder caused by expansion and contraction of a speed governor rope when detecting a position of a car using the speed governor encoder.
Background
For example, patent document 1 discloses a conventional elevator. The conventional elevator includes two governor speed detectors, and the position of the car is grasped based on the detection values of the two governor speed detectors. Therefore, in an elevator having a long lifting stroke, the position of the car can be accurately grasped even when the governor rope expands and contracts.
Documents of the prior art
Patent document
Patent document 1: japanese patent laid-open No. 2006-176215
Disclosure of Invention
Problems to be solved by the invention
However, the prior art has the following problems.
The technique described in patent document 1 requires two governor speed detectors. Therefore, in a normal elevator, a new governor speed detector needs to be added in order to take into account the expansion and contraction of the governor rope.
The present invention has been made to solve the above-described problems, and an object thereof is to provide an elevator control device and a speed governor rope expansion amount estimation method that can estimate an error of a speed governor encoder caused by expansion and contraction of a speed governor rope without adding a new speed governor speed detector.
Means for solving the problems
An elevator control device of the invention comprises a current position calculator for calculating the current position of a car according to the count value of a speed governor encoder output corresponding to the rotation of a speed governor around which a speed governor rope connected with the car is wound, wherein the current position calculator calculates the amount of movement from a state in which a floor stop detector provided in the elevator car detects any of floor stop boards provided corresponding to respective floor positions of the building and the elevator car stops to a state in which the floor stop board is not detected, based on the count value of the speed governor encoder, by comparing the calculated amount of movement with the actual length of the parking floor, a count error of the governor encoder due to the expansion and contraction of the governor rope is estimated, thereby estimating the amount of expansion and contraction of the governor rope at the floor where movement is started.
A speed governor rope expansion and contraction amount estimation method according to the present invention is a speed governor rope expansion and contraction amount estimation method executed by a current position calculator in an elevator control device including the current position calculator, the current position calculator calculating a current position of a car on the basis of a count value of a speed governor encoder output in accordance with rotation of a speed governor around which a speed governor rope connected to the car is wound, the speed governor rope expansion and contraction amount estimation method including: a movement amount calculation step of calculating, based on a count value of the speed governor encoder, a movement amount from a state in which a floor stop detector provided in the elevator car detects any of floor stop boards provided corresponding to respective floor positions of the building and the elevator car stops to a state in which the floor stop board is not detected; an estimation step of estimating a count error of the governor encoder due to expansion and contraction of the governor rope by comparing the movement amount calculated in the movement amount calculation step with an actual length of the parking floor, thereby estimating an amount of expansion and contraction of the governor rope at the floor where movement is started.
Effects of the invention
According to the present invention, the error of the governor encoder caused by the expansion and contraction of the governor rope can be estimated in consideration of the length of the stopped floor detected by the stopped floor detector. As a result, it is possible to provide an elevator control device and a speed governor rope expansion amount estimation method that can estimate an error of a speed governor encoder caused by expansion and contraction of a speed governor rope without adding a new speed governor speed detector.
Drawings
Fig. 1 is a configuration diagram of an elevator to which an elevator control device according to embodiment 1 of the present invention is applied.
Fig. 2 is a configuration diagram of a current position calculator provided in an elevator control device according to embodiment 1 of the present invention.
Fig. 3 is a configuration diagram of a governor rope expansion/contraction amount estimator provided in an elevator control device according to embodiment 1 of the present invention.
Fig. 4 is a configuration diagram of a car position calculator provided in an elevator control device according to embodiment 1 of the present invention.
Fig. 5 is an explanatory diagram showing the amount of expansion and contraction of the governor rope estimated by the elevator control device according to embodiment 1 of the present invention.
Fig. 6 is a configuration diagram of an elevator to which an elevator control device according to embodiment 2 of the present invention is applied.
Fig. 7 is a configuration diagram of a current position calculator provided in an elevator control device according to embodiment 2 of the present invention.
Fig. 8 is a flowchart showing a series of adjustment processing performed on the output of the speed governor rope expansion/contraction amount estimator by the adjustment arithmetic unit in embodiment 2 of the present invention.
Fig. 9 is a configuration diagram of an elevator to which an elevator control device according to embodiment 3 of the present invention is applied.
Fig. 10 is a configuration diagram of a current position calculator provided in an elevator control device according to embodiment 3 of the present invention.
Fig. 11 is a flowchart showing a series of adjustment processing performed on the output of the speed governor rope expansion/contraction amount estimator by the adjustment arithmetic unit in embodiment 3 of the present invention.
Fig. 12 is a configuration diagram of an elevator to which an elevator control device according to embodiment 4 of the present invention is applied.
Fig. 13 is an example of time-series information of the speed governor rope expansion and contraction amount during a floor-stopping operation of an elevator control apparatus according to embodiment 4 of the present invention.
Fig. 14 is a configuration diagram of an elevator to which an elevator control device according to embodiment 5 of the present invention is applied.
Fig. 15 is a configuration diagram of an elevator to which an elevator control device according to embodiment 6 of the present invention is applied.
Detailed Description
Hereinafter, preferred embodiments of an elevator control device according to the present invention will be described with reference to the drawings. In the drawings, the same or corresponding portions are denoted by the same reference numerals. The repeated description of this part is appropriately simplified or omitted.
Embodiment mode 1
Fig. 1 is a configuration diagram of an elevator to which an elevator control device according to embodiment 1 of the present invention is applied. In fig. 1, a hoistway 1 penetrates each floor of a building not shown. The motor 2 is provided at an upper portion of the hoistway 1. The sheave 3 is provided at an upper portion of the hoistway 1 and is attached to a rotation shaft of the motor 2. The main ropes 4 are wound around the sheave 3.
The car 5 is installed inside the hoistway 1 and suspended from one end of the main rope 4. On the other hand, the counterweight 6 is provided inside the hoistway 1 and suspended from the other end of the main rope 4.
The governor 7 is provided in an upper portion of the hoistway 1. A governor rope 8 is wound around the governor 7 and connected to the car 5.
The plurality of door panels 9 are provided as 1 st landing panels in the hoistway 1 at positions corresponding to the door zones of the respective floors. The plurality of re-leveling zone plates 10 are provided as 2 nd floor-stopping plates in the hoistway 1 at positions corresponding to re-leveling zones of floors. The length of the re-leveling zone plate 10 in the vertical direction is shorter than the length of the door zone plate 9 in the vertical direction.
The weight detection device 11 is provided in the car 5 so as to be able to detect a weight value of a load in the car 5. The door zone panel detector 12 is provided as a 1 st floor stop panel detector in the car 5. And, the door zone plate detector 12 is configured to detect the door zone plate 9 when being arranged at the same height as the door zone plate 9, and to transmit a door zone signal when detecting the door zone plate 9.
The releveling area panel detector 13 is provided as a 2 nd floor stop panel detector in the car 5. And, the re-leveling floor panel detector 13 is provided to detect the re-leveling floor panel 10 when being arranged at the same height as the re-leveling floor panel 10, and to transmit a re-leveling floor signal when the re-leveling floor panel 10 is detected.
The motor speed detector 14 is connected to the motor 2 and is arranged to send a motor encoder count signal in accordance with the rotational speed of the motor 2. The governor speed detector 15 is connected to the governor 7 and is configured to transmit a governor encoder count signal in accordance with the rotational speed of the governor 7.
The control device 16 includes a drive circuit 17, a speed controller 18, and a main control unit 19. The main control unit 19 includes an operation command calculator 20, a current position calculator 21, and a speed command calculator 22.
The operation command calculator 20 calculates an operation command of the elevator and transmits the calculated operation command.
The current position calculator 21 receives the governor encoder count signal from the governor speed detector 15. And, the current position calculator 21 receives the door zone signal from the door zone panel detector 12. Further, the current position calculator 21 receives a resurf zone signal from the resurf zone plate detector 13.
Then, the current position calculator 21 calculates the current position of the car 5 based on the governor encoder count signal, the door zone signal, the releveling zone signal, the start floor information, the destination floor information, the acceleration/deceleration pattern, and the start/stop signal.
The speed command calculator 22 receives the motor encoder count signal from the motor speed detector 14. Also, the speed command calculator 22 receives the door zone signal from the door zone panel detector 12. And, the speed instruction calculator 22 receives the re-leveling zone signal from the re-leveling zone plate detector 13. Also, the speed command calculator 22 receives the operation command from the operation command arithmetic unit 20. The speed command calculator 22 receives a signal related to the current position of the car 5 from the current position calculator 21.
Then, the speed command calculator 22 calculates a speed command value based on the governor encoder count signal, the door zone signal, the resurvey zone signal, the travel command, and the signal related to the current position of the car 5. The speed command calculator 22 transmits start floor information, destination floor information, acceleration/deceleration pattern, and start/stop signal to the current position calculator 21. Then, the speed command calculator 22 transmits the speed command value to the speed controller 18.
The speed controller 18 drives the drive circuit 17 based on the speed command value. The drive circuit 17 drives the motor 2 according to the speed command value. The sheave 3 rotates following the driving of the motor 2. The main ropes 4 move following the rotation of the sheave 3. The car 5 and the counterweight 6 move up and down at a desired speed along a guide rail, not shown, following the movement of the main rope 4.
Next, the function of the current position calculator 21 will be described in detail with reference to fig. 2. Fig. 2 is a configuration diagram of a current position calculator 21 provided in an elevator control device according to embodiment 1 of the present invention. The current position calculator 21 includes a governor rope expansion/contraction amount estimator 23, a governor rope expansion/contraction amount memory 24, and a car position calculator 25.
The governor rope expansion/contraction amount estimator 23 estimates the expansion/contraction amount of the governor rope 8 corresponding to the floor where the car 5 is started, based on the governor encoder count signal, the door zone signal, the releveling zone signal, and the start/stop signal. The amount of expansion and contraction of the governor rope 8 corresponds to an error in the governor encoder caused by expansion and contraction of the governor rope 8, that is, a positional error of the car 5.
The governor rope expansion/contraction amount memory 24 according to embodiment 1 has a storage function and a processing function. Further, the governor rope expansion/contraction amount memory 24 may have only a memory function, and data may be read from and written to the governor rope expansion/contraction amount memory 24 from a peripheral device.
The speed governor rope expansion/contraction amount memory 24 stores the estimated value of the expansion/contraction amount of the speed governor rope 8 estimated by the speed governor rope expansion/contraction amount estimator 23 as the expansion/contraction amount of the speed governor rope 8 for each floor in association with the start floor information.
The speed governor rope expansion/contraction amount memory 24 stores information on the expansion/contraction amount of the speed governor rope 8, which is estimated by interpolating information on a plurality of floors on which the expansion/contraction amount of the speed governor rope 8 is estimated, in association with information on the floors on which the expansion/contraction amount of the speed governor rope 8 is not estimated.
Each time the speed governor rope expansion/contraction amount estimator 23 estimates the expansion/contraction amount of the speed governor rope 8, the speed governor rope expansion/contraction amount memory 24 updates and newly stores information on the expansion/contraction amount of the speed governor rope 8 corresponding to the floor.
The governor rope expansion/contraction amount memory 24 transmits information on the expansion/contraction amount of the governor rope 8 corresponding to the floor corresponding to the destination floor information of the car 5. The speed governor rope expansion/contraction amount memory 24 transmits the estimated value of the expansion/contraction amount of the speed governor rope 8 by the speed governor rope expansion/contraction amount estimator 23 in association with the information on the floor in response to an external command.
The car position calculator 25 calculates the current position of the car 5 based on the governor encoder count signal, the door zone signal, the releveling zone signal, the acceleration/deceleration pattern, and the estimated value of the amount of expansion and contraction of the governor rope 8 corresponding to the floor corresponding to the destination floor information of the car 5.
Next, the function of the governor rope expansion/contraction amount estimator 23 will be described in detail with reference to fig. 3. Fig. 3 is a configuration diagram of a governor rope expansion/contraction amount estimator 23 provided in an elevator control device according to embodiment 1 of the present invention.
The governor rope expansion amount estimator 23 has a gate area plate length holder 26, a re-leveling area plate length holder 27, a 1 st holder 28, a 2 nd holder 29, a 3 rd holder 30, and a selector 31.
The door zone plate length holder 26 holds information on the length of the door zone plate 9 as a design fixed value. On the other hand, the re-leveling zone plate length holder 27 holds information on the length of the re-leveling zone plate 10 as a design fixed value.
The 1 st holder 28 holds information on a value corresponding to the governor encoder count signal when the car 5 starts from N floors (N is an integer) in response to the start/stop signal. The 2 nd storage 29 stores information on a value corresponding to the governor encoder count signal for the N floors when the car 5 departs from the N floors and moves away from the re-leveling area for the N floors based on the re-leveling area signal. The 3 rd holder 30 holds information on a value corresponding to the governor encoder pulse count signal for the N floors when the car 5 moves further and leaves the gate area of the N floors based on the gate area signal.
The selector 31 selects an estimated value of the amount of expansion and contraction of the governor rope 8 from a plurality of kinds of estimated values obtained from information stored in the door zone plate length holder 26, the resurrection zone plate length holder 27, the 1 st holder 28, the 2 nd holder 29, and the 3 rd holder 30, respectively. Then, the selector 31 transmits the selected estimated value as an estimated value of the amount of expansion and contraction of the governor rope 8 corresponding to the starting floor.
Here, in describing the method of calculating the estimated value, each value is defined by the following notation.
Z1: 1/2 length of the re-leveling zone plate 10
Z2: 1/2 length of the door zone plate 9
C1: the value corresponding to the governor encoder pulse count signal stored in the 1 st storage 28
C2: the value corresponding to the governor encoder pulse count signal stored in the 2 nd storage 29
C3: the value corresponding to the governor encoder pulse count signal stored in the 3 rd storage 30
For example, the selector 31 selects the estimated value a of the amount of expansion and contraction of the governor rope 8 represented by the following expression (1).
Estimate a (n) ═ Z1- (C2-C1) (1)
For example, the selector 31 selects the estimated value B of the expansion/contraction amount of the governor rope 8 represented by the following expression (2).
Estimate b (n) ═ Z2- (C3-C1) (2)
For example, the selector 31 selects the estimated value C of the amount of expansion and contraction of the governor rope 8 represented by the following expression (3).
Estimated value C (n) ═ (Z2-Z1) - (C3-C2) (3)
In addition, in calculating the estimated values a (n), b (n), and c (n), it is conceivable to perform the calculation operation of these estimated values after correcting the landing error of the car position to be substantially equal to zero so as to eliminate the influence of the difference in the car landing positions.
When the difference between the estimated values a (n), b (n), and c (n) exceeds a certain allowable value during the rising and falling of the car 5, it is conceivable to calculate the estimated values separately for the rising and falling times and store the estimated values separately for the rising and falling times in the 1 st storage 28, the 2 nd storage 29, and the 3 rd storage 30, respectively.
Next, the function of the car position calculator 25 will be described in detail with reference to fig. 4. Fig. 4 is a configuration diagram of a car position calculator 25 provided in an elevator control device according to embodiment 1 of the present invention.
The car position calculator 25 shown in fig. 4 includes an integrator 32 and a governor rope expansion/contraction amount corrector 33. The governor rope expansion/contraction amount corrector 33 includes a correction value calculator 34 and a switch 35.
The integrator 32 integrates a value corresponding to the governor encoder count signal, thereby calculating a temporary position of the car 5.
The speed governor rope expansion/contraction amount corrector 33 corrects the expansion/contraction amount of the speed governor rope 8 using the estimated value of the expansion/contraction amount of the speed governor rope 8 corresponding to the destination floor from the speed governor rope expansion/contraction amount memory 24, the gate zone signal of the destination floor, the resurrection zone signal of the destination floor, and the deceleration pattern signal.
Specifically, the correction value calculator 34 in the speed governor rope expansion/contraction amount corrector 33 calculates the correction value of the expansion/contraction amount of the speed governor rope 8 using the estimated value of the expansion/contraction amount of the speed governor rope 8 corresponding to the destination floor, the deceleration timing based on the deceleration pattern signal, the timing based on the re-leveling zone signal of the destination floor, the timing based on the gate zone signal of the destination floor, and the like.
When the deceleration mode signal is not received, the switch 35 switches to stop transmission of the correction value of the amount of expansion and contraction of the governor rope 8 from the correction value calculator 34. On the other hand, when receiving the deceleration mode signal, the switch 35 switches to cause the correction value calculator 34 to transmit the correction value of the amount of expansion and contraction of the governor rope 8.
At this time, the current position of the car 5 is calculated by subtracting the correction value of the amount of expansion and contraction of the governor rope 8 from the governor rope expansion and contraction amount corrector 33 from the value of the temporary position of the car 5 sent from the integrator 32.
Next, an estimated value of the amount of expansion and contraction of the governor rope 8 will be described with reference to fig. 5. Fig. 5 is an explanatory diagram showing the amount of expansion and contraction of the governor rope estimated by the elevator control device according to embodiment 1 of the present invention. The horizontal axis of fig. 5 represents a ratio (%) of the distance from the lowermost floor to the total elevating stroke of the car 5. The vertical axis in fig. 5 represents the estimated value (mm) of the amount of expansion and contraction of the governor rope 8 stored in the governor rope expansion and contraction amount memory 24.
As shown in fig. 5, the estimated value of the amount of expansion and contraction of the governor rope 8 stored in the governor rope expansion and contraction amount memory 24 increases as the ratio of the distance from the lowermost floor to the total elevating stroke of the car 5 decreases. That is, the closer to the vicinity of the lowermost layer, the larger the amount of expansion and contraction of the governor rope 8.
As described above, the elevator control apparatus according to embodiment 1 has the following configuration: an error of the governor encoder due to expansion and contraction of the governor rope with respect to the stop floor at the start of movement is estimated in consideration of the length of the stop floor detected by the re-leveling floor panel detector or the door panel detector at the start of movement. Therefore, the error of the governor encoder caused by the expansion and contraction of the governor rope can be estimated without adding a new governor speed detector.
As a result, even when the governor rope 8 expands and contracts due to the spring characteristics at the time of acceleration and deceleration of the car of an elevator having a long lifting stroke such as a super high-rise building, the position of the car 5 can be accurately grasped.
The elevator control device according to embodiment 1 has the following configuration: when a door panel detector changes from a state in which a floor stop panel is not detected to a state in which a floor stop panel is detected during deceleration for stopping the car at a destination floor, the position of the car can be corrected using an error estimation value of a governor encoder that has been calculated due to expansion and contraction of a governor rope. Therefore, even when the car decelerates and stops at a floor, the position of the car can be accurately grasped. As a result, the landing error of the car and the vibration at the time of landing of the car can be suppressed, and the riding feeling of the car can be improved.
The elevator control device according to embodiment 1 has the following configuration: information on an error of a speed governor encoder caused by expansion and contraction of a speed governor rope is stored in association with floor information. Therefore, the position of the car can be accurately grasped corresponding to the position of each floor.
The elevator control device according to embodiment 1 has the following configuration: for floors for which an error of a speed governor encoder caused by expansion and contraction of a speed governor rope is not estimated, information of an error of the speed governor encoder caused by expansion and contraction of the speed governor rope, which is estimated by interpolating information of a plurality of floors for which an error of the speed governor encoder caused by expansion and contraction of the speed governor rope is estimated, is stored in association with the floor information. Therefore, the position of the car can be appropriately grasped even at the floor where the car is first stopped.
The elevator control device according to embodiment 1 has the following configuration: when the speed governor rope expansion/contraction amount estimator estimates an error of the speed governor encoder caused by expansion/contraction of the speed governor rope, information of the error of the speed governor rope caused by expansion/contraction of the speed governor rope corresponding to a floor is updated and stored again. Therefore, the change over time in the expansion and contraction characteristics of the governor rope can be coped with.
The elevator control device according to embodiment 1 has the following configuration: information on an error in the speed governor rope due to the expansion and contraction of the speed governor rope estimated by the speed governor rope expansion and contraction amount estimator can be transmitted to the outside in association with the floor information. Therefore, even during maintenance work of the elevator or the like, information on an error of the governor encoder due to expansion and contraction of the governor rope can be effectively used.
In embodiment 2, a method will be described in which, in the elevator control apparatus according to embodiment 1, the speed governor rope expansion/contraction amount estimator 23 in the current position calculator 21 is configured to cope with a case where a detection error occurs due to the dynamic characteristics of the speed governor mechanism.
Fig. 6 is a configuration diagram of an elevator to which an elevator control device according to embodiment 2 of the present invention is applied. The configuration of fig. 6 of embodiment 2 is the same as the configuration of fig. 1 of embodiment 1, except for some additional or modified elements. Therefore, the same elements will not be described in detail, and the explanation will be given mainly on the newly added adjustment arithmetic unit 50.
The adjustment arithmetic unit 50 receives an adjustment processing start signal from the operation command arithmetic unit 20, and thereby detects that the adjustment operation is performed. The adjustment arithmetic unit 50 acquires landing error measurement information based on the actual position of the car at the destination floor after the adjustment operation is performed, by an input operation of the measurement result by the maintenance worker. The adjustment arithmetic unit 50 performs an arithmetic operation for adjusting the output of the speed governor rope expansion/contraction amount estimator 23 based on the floor-stopping error measurement information, and transmits an amplification factor command signal to the current position calculator 21.
Next, the function of the current position calculator 21 according to embodiment 2 will be described in detail with reference to fig. 7. Fig. 7 is a configuration diagram of a current position calculator 21 provided in an elevator control device according to embodiment 2 of the present invention.
The basic configuration of the current position calculator 21 is the same as that of the current position calculator 21 of embodiment 1 shown in fig. 2. Therefore, the detailed description of the same elements is omitted, and the description will be given centering on the newly added magnification corrector 40.
The amplification factor corrector 40 is interposed between the governor rope expansion and contraction amount estimator 23 and the governor rope expansion and contraction amount memory 24. The amplification factor corrector 40 receives the transmission signal from the governor rope expansion/contraction amount estimator 23 and the transmission signal from the adjustment calculator 50, and transmits the signal after the amplification factor correction to the governor rope expansion/contraction amount memory 24.
The information output from the speed governor rope expansion/contraction amount estimator 23 includes start floor information and speed governor rope expansion/contraction amount estimation value information. On the other hand, the amplification factor corrector 40 does not process the start floor information of the two pieces of information, and processes only the estimated value information of the amount of expansion and contraction of the speed governor rope based on the transmission information from the adjustment arithmetic unit 50.
Specifically, the amplification factor corrector 40 multiplies the estimated value information of the speed governor rope expansion/contraction amount by an amplification factor corresponding to the amplification factor command signal obtained from the adjustment arithmetic unit 50, and sends the multiplication result to the speed governor rope expansion/contraction amount memory 24.
Fig. 8 is a flowchart showing a series of adjustment processes performed by the adjustment arithmetic unit 50 on the output of the speed governor rope expansion/contraction amount estimator 23 in embodiment 2 of the present invention. The adjustment process of embodiment 2 is performed in the following manner.
First, in step S801, when receiving the adjustment processing start signal from the execution command arithmetic unit 20, the adjustment arithmetic unit 50 initially sets the amplification factor information as the amplification factor command signal to 1 time in the adjustment operation. Next, in step S802, the adjustment arithmetic unit 50 acquires floor-stopping error measurement information input by the maintenance person based on the measurement result after the control device 16 performs the elevator adjustment operation.
The above-described adjustment operation of the elevator is specifically described below. First, the control device 16 sets the floor to be adjusted as a starting floor and a floor set in advance as a destination floor, and moves the car 5. Then, the amplification factor corrector 40 acquires the estimated value of the starting floor speed governor rope expansion/contraction amount estimated by the speed governor rope expansion/contraction amount estimator 23 during the movement operation, and transmits the estimated value to the speed governor rope expansion/contraction amount memory 24.
Next, the control device 16 takes the floor to be adjusted as the destination floor, performs a movement operation accompanied by correction using the estimated value to return to the floor to be adjusted, and then causes the maintenance person to measure the floor-stopping error measurement information. The adjustment operation is described above.
Next, in step S803, the adjustment arithmetic unit 50 determines whether or not the obtained floor-standing error measurement information is within the evaluation criterion range. When the layer-stopping error measurement information is within the evaluation criterion range, the process proceeds to step S804, and the adjustment arithmetic unit 50 holds the current magnification information, and ends the series of processes.
On the other hand, if the layer-stopping error measurement information is not within the evaluation reference range, the process proceeds to step S805, and the adjustment arithmetic unit 50 determines whether the layer-stopping error measurement information is out of the evaluation reference range or the layer-stopping error measurement information is not within the evaluation reference range.
When the adjustment arithmetic unit 50 determines that the floor-standing error measurement information is out of the evaluation criterion range, the routine proceeds to step S806, increases the magnification by a preset increment from the current setting value, and returns to step S802.
On the other hand, if the adjustment arithmetic unit 50 determines that the floor-standing error measurement information does not reach the evaluation reference range, the process proceeds to step S807, and the magnification is reduced by a preset reduction amount with respect to the current set value, and the process returns to step S802.
When the process returns to step S802 via step S806 or step S807, the control device 16 again performs the adjustment operation on the elevator using the updated new magnification. Then, the series of processing is continued until the layer-stopping error information obtained after the adjustment operation falls within the evaluation criterion range.
By the series of processing shown in fig. 8, the estimated value of the speed governor rope expansion/contraction amount estimator 23 that detects the amount of expansion/contraction of the speed governor rope can be corrected, and an appropriate amplification factor can be obtained with the floor-stopping error within the evaluation reference range. As a result, an elevator control device capable of reducing detection errors due to the dynamic characteristics of the governor mechanism can be realized.
As described in embodiment 1 with reference to fig. 5, the amount of expansion and contraction of the governor rope 8 changes for each floor. Therefore, the correction value also needs to be changed in accordance with the change in the expansion/contraction amount of each floor.
A method of adding the landing error at each floor as a correction value to the estimated value of the amount of rope expansion and contraction of the speed governor may be considered. However, since the correction value varies for each floor, this method requires a value to be acquired in correspondence with each floor, and requires time for adjustment.
In contrast, the correction method according to embodiment 2 of the present invention corrects the estimated value of the speed governor rope expansion/contraction amount at an amplification factor having the floor stopping error as a parameter. Therefore, the correction value change for each floor can be handled at a common single magnification without adjustment for each floor.
As described above, embodiment 2 has the following structure: even when a detection error occurs due to the dynamic characteristics of the governor mechanism, the amplification factor for correcting the governor rope expansion/contraction amount estimated value can be calculated. As a result, the detection error due to the dynamic characteristics can be corrected, and the floor-stopping error can be set to an appropriate value within the evaluation criterion range.
In embodiment 2, when the adjustment process of the magnification is performed, the predetermined increment is added when the floor-stopping error measurement information is out of the evaluation reference range, and the subtraction process of subtracting the predetermined decrement is performed when the floor-stopping error measurement information is not within the evaluation reference range.
However, in such an adjustment process, when the preset increase amount and decrease amount are not appropriate values, there is a possibility that a state in which the values do not quickly fall within the evaluation reference range may occur. For example, when the increase amount and the decrease amount are smaller than appropriate values, a large number of trials are required until the layer-stopping error converges within the evaluation reference range. In contrast, when the increase amount and the decrease amount are larger than appropriate values, there is a problem that the layer-stopping error diverges without converging within the evaluation reference range.
Therefore, in embodiment 3, a method will be described in which the detection error correction process of the speed governor rope expansion/contraction amount estimator 23 can be performed more quickly and stably than the correction process of embodiment 2.
Fig. 9 is a configuration diagram of an elevator to which an elevator control device according to embodiment 3 of the present invention is applied. Fig. 10 is a configuration diagram of a current position calculator 21 provided in an elevator control device according to embodiment 3 of the present invention. The configuration of fig. 9 of embodiment 3 is the same as the configuration of fig. 6 of embodiment 2, except for some additional or modified elements. Therefore, the same elements will not be described in detail, and the description will be given centering on the newly added correction process.
The adjustment arithmetic unit 50 according to embodiment 3 has the following functions: in comparison with the adjustment arithmetic unit 50 of embodiment 2, the estimated value of the amount of expansion and contraction of the starting floor speed governor rope from the current position calculator 21 is also received, the amplification factor is calculated, and an amplification factor command signal is transmitted to the current position calculator 21.
Here, in the explanation of the amplification factor adjustment processing by the adjustment arithmetic unit 50, the floor-stopping error measurement information is referred to as a signal a and the estimated value of the amount of expansion and contraction of the starting floor speed governor rope is referred to as a signal B for the two pieces of information received by the adjustment arithmetic unit 50.
Fig. 11 is a flowchart showing a series of adjustment processes performed by the adjustment arithmetic unit 50 on the output of the speed governor rope expansion/contraction amount estimator 23 in embodiment 3 of the present invention. Steps S801 to S804 in fig. 11 are the same as those in fig. 8 of embodiment 2 described above. The adjustment process of embodiment 3 is performed in the following manner.
First, in step S801, when receiving the adjustment processing start signal from the execution command arithmetic unit 20, the adjustment arithmetic unit 50 initially sets the amplification factor information as the amplification factor command signal to 1 time in the adjustment operation. Next, in step S802, the adjustment arithmetic unit 50 acquires floor-stopping error measurement information input by the maintenance worker as a signal a after the control device 16 performs the elevator adjustment operation.
The above-described adjustment operation of the elevator is specifically described below. First, the control device 16 sets the floor to be adjusted as a starting floor and a floor set in advance as a destination floor, and moves the car 5. The amplification factor corrector 40 acquires the estimated value of the starting floor speed governor rope expansion/contraction amount estimated by the speed governor rope expansion/contraction amount estimator 23 during the movement operation as a signal B, and transmits the signal to the speed governor rope expansion/contraction amount memory 24 and the adjustment arithmetic unit 50.
Next, the control device 16 takes the floor to be adjusted as the destination floor, performs a movement operation accompanied by correction using the estimated value to return to the floor to be adjusted, and then causes the maintenance person to measure the signal a as the floor-stopping error measurement information.
Next, in step S803, the adjustment arithmetic unit 50 determines whether or not the signal a, which is the acquired floor-standing error measurement information, is within the evaluation criterion range. When the layer-stopping error measurement information is within the evaluation criterion range, the process proceeds to step S804, and the adjustment arithmetic unit 50 holds the current magnification information, and ends the series of processes.
On the other hand, when the signal a, which is the landing error measurement information, is not within the evaluation reference range, the process proceeds to step S1101, and the adjustment arithmetic unit 50 acquires the estimated value of the amount of expansion and contraction of the starting floor speed governor rope as a signal B. Then, in step S1102, the adjustment arithmetic unit 50 determines the amplification factor of the signal B, which is the estimated value of the amount of expansion and contraction of the starting floor speed governor rope, based on both the signal a and the signal B.
Therefore, the amplification factor can be defined as a function F having the signal a and the signal B as parameters, and is expressed by the following expression (4).
Magnification ═ F (signal a, signal B) (4)
The function F for determining the amplification factor command signal can be set as follows, for example. The amplification factor corrector 40 multiplies the signal B, which is an estimated value of the amount of expansion and contraction of the rope of the starting floor speed governor, by the amplification factor received as the amplification factor instruction signal, to obtain a multiplication result. Here, it is preferable that the multiplication result is a signal ((signal a) + (signal B)) obtained by correcting the signal a, which is the slice-stopping error measurement information, and in this case, the slice-stopping error can be made zero.
Therefore, the amplification factor corresponding to the amplification factor command signal can be defined as a function of the following expression (5), for example.
Magnification ═ F (signal a, signal B)
= ((signal a) + (signal B))/(signal B) (5)
After the amplification factor is set by using the above expression (5), the process returns to step S802, and the processes after the adjustment operation are performed again. The adjustment process of the magnification is continued until the slice-stopping error information falls within the evaluation criterion range, and in principle, the number of times of the determination process is shortened to two or less.
Although not shown in the flowchart of fig. 11, if the layer-stopping error cannot be converged within the evaluation criterion range within two times, the adjustment can be performed as described below. That is, the adjustment arithmetic unit 50 stores the magnification command value and the floor-stopping error information of the 1 st and 2 nd times on the assumption of an XY plane having the magnification command value as the X axis and the floor-stopping error amount as the Y axis. The adjustment arithmetic unit 50 plots the results of the 1 st and 2 nd times on the XY plane, and calculates an X slice of a straight line passing through these two points as a magnification. By calculating the magnification in this way, the layer-stopping error can be made substantially zero.
By having a series of processing shown in fig. 11, the estimated value of the amount of expansion and contraction of the speed governor rope can be corrected quickly, and an appropriate amplification factor can be obtained so that the floor-stopping error falls within the evaluation reference range.
As described above, according to embodiment 3, the following structure is provided: even when a detection error occurs due to the dynamic characteristics of the governor mechanism, the amplification factor of the estimated value of the amount of expansion and contraction of the governor rope can be quickly calculated and corrected. As a result, the detection error due to the dynamic characteristics can be corrected, and an appropriate amplification factor can be obtained so that the layer-stopping error falls within the evaluation criterion range.
In addition, the number of trials to converge the layer-stopping error within the evaluation reference range can be reduced, and an appropriate magnification to quickly bring the layer-stopping error within the evaluation reference range can be obtained quickly.
Embodiment 4
In embodiment 1 described above, the amplification factor correction processing effective for the device that responds to the deceleration mode signal without a time delay in the dynamic characteristic of the amount of expansion and contraction of the speed governor rope is described. In contrast, in embodiment 4, the amplification factor correction processing in which the dynamic characteristic of the speed governor rope expansion/contraction amount is delayed with respect to the deceleration mode signal by a time will be described.
In some cases, in an elevator having a long lifting stroke, the dynamic characteristic of the amount of expansion and contraction of the governor rope has a high-frequency cutoff characteristic with respect to the deceleration mode signal. In this case, the dynamic characteristic of the speed governor rope expansion and contraction amount causes a time delay and a waveform change with respect to the deceleration mode signal. This time delay and waveform fluctuation become factors of an estimation error of the governor rope expansion/contraction amount estimator, and as a result, there is a problem that a landing position error of the car 5 occurs.
Therefore, in embodiment 4, the amplification factor correction processing effective for the case where the dynamic characteristic of the speed governor rope expansion/contraction amount has a high-frequency cutoff characteristic with respect to the deceleration mode signal will be described.
Fig. 12 is a configuration diagram of an elevator to which an elevator control device according to embodiment 4 of the present invention is applied. The configuration of fig. 12 of embodiment 4 is the same as the configuration of fig. 1 of embodiment 1, except for some additional or modified elements. Therefore, the same elements will not be described in detail, and a description will be given below centering on the newly added low-pass filter 60. The low-pass filter 60 corresponds to a characteristic correction unit that corrects the current position of the car based on the dynamic characteristic of the amount of expansion and contraction of the governor rope.
The low-pass filter 60 receives the timing information of the current car position from the current position calculator 21, and transmits a signal obtained by performing a filtering operation of cutting off a high frequency band on the received timing information to the speed command calculator 22.
Next, the dynamic characteristics of the amount of expansion and contraction of the governor rope according to embodiment 4 of the present invention will be described with reference to fig. 13. Fig. 13 is an example of time-series information of the speed governor rope expansion and contraction amount during a floor-stopping operation of an elevator control apparatus according to embodiment 4 of the present invention.
In fig. 12, a broken line indicates a deceleration mode signal added as a reference. The deceleration pattern signal is plotted in units of the acceleration of the car as the vertical axis, and the time axis is matched with the time series information of the amount of expansion and contraction of the governor rope.
The dynamic characteristic of the amount of expansion and contraction of the governor rope in this example is such that the start portion and the end portion of the trapezoidal waveform change smoothly with a delay on the time axis with respect to the trapezoidal waveform as the deceleration pattern signal. This characteristic is obtained by cutting off the high frequency band for the deceleration mode signal.
Such a high-frequency cutoff characteristic can be simulated by a low-pass filter. The low-pass filter can be realized by, for example, the transfer characteristic shown in the following expression (6).
LPF(s)＝1/(Ts+1) (6)
In addition, lpf(s) denotes a transfer function of the low-pass filter, and T denotes a time constant. By changing the time constant T of the above equation (6), the dynamic characteristics of the amount of expansion and contraction of the governor rope can be simulated with a smaller error than in the conventional case.
The timing information of the current car position output by the current position detector 21 is a signal synchronized with the deceleration pattern signal. Therefore, the time-series information of the current car position does not simulate the high-frequency cutoff characteristic, which is the dynamic characteristic of the amount of expansion and contraction of the governor rope.
Therefore, if the time series information of the current car position is passed through the low-pass filter shown in the above equation (6), the time series information of the current car position can be obtained in which the dynamic characteristics of the amount of expansion and contraction of the governor rope are simulated with a smaller error than in the conventional case.
This information indicates the position of the car 5 more accurately than in the conventional art. Therefore, if the timing information of the current car position is transmitted to the speed command calculator 22 through the low-pass filter 60, the floor-stopping position error of the car 5 and the vibration of the car 5 at the floor-stopping time can be suppressed. With such a suppression effect, the riding feeling of the car 5 can be improved.
As described above, embodiment 4 includes a low-pass filter for simulating a first-order delay when the dynamic characteristic of the speed governor rope expansion and contraction amount has a time delay with respect to the deceleration mode signal. As a result, the landing position error of the car and the vibration at the time of landing due to the first-order lag can be suppressed.
The configuration having the low-pass filter 60 described in embodiment 4 above can be applied to the configuration of embodiment 2 above. Fig. 14 is a configuration diagram of an elevator to which an elevator control device according to embodiment 5 of the present invention is applied. With this configuration, the effect of suppressing the landing position error of the car and the vibration at the time of landing due to the first-order lag can be added to embodiment 2.
The configuration having the low-pass filter 60 described in embodiment 4 above can be applied to the configuration of embodiment 3 above. Fig. 15 is a configuration diagram of an elevator to which an elevator control device according to embodiment 6 of the present invention is applied. With this configuration, the effect of suppressing the landing position error of the car and the vibration at the time of landing due to the first-order lag can be added to embodiment 3.
Claims (14)
1. An elevator control device having a current position calculator that calculates a current position of a car from a count value of a pulse count signal of a governor encoder output in accordance with rotation of a governor around which a governor rope connected to the car of an elevator is wound,
the current position calculator calculates a movement amount of the car during a period from a 1 st state to a 2 nd state of a floor stop detector provided in the car, the 1 st state being a state in which the floor stop detector detects any of floor stop boards provided in correspondence with respective floor positions of a building during a stop of the car, the 2 nd state being a state in which the car starts moving and the floor stop detector does not detect the floor stop board in association with movement of the car caused by driving of a motor performing speed control in accordance with a speed command value corresponding to an acceleration/deceleration pattern, and estimates a count error of the pulse count signal output from the speed governor encoder by comparing the movement amount of the car calculated from the count value of the speed governor encoder with an actual length of the floor stop board, the amount of expansion and contraction of the governor rope at the floor where movement starts is estimated as a value of an error in the car position caused by expansion and contraction of the governor rope due to spring characteristics at the time of acceleration and deceleration of the car.
2. The elevator control apparatus according to claim 1,
the current position calculator has:
a stretch amount estimator that estimates the count error corresponding to a departure floor when the vehicle starts moving from the departure floor;
a stretch amount memory that stores information on the count error estimated by the stretch amount estimator in association with information on a floor corresponding to the departure floor; and
and a car position calculator that calculates a current position of the car by extracting the count error stored in the expansion/contraction amount memory as a value corresponding to the destination floor at a time when the floor stop detector changes from a state in which the floor stop of the destination floor is not detected to a state in which the floor stop of the destination floor is detected, and correcting the count value of the speed governor encoder based on the extracted count error, in a deceleration stop operation when the car moves using the departure floor for which the count error has been calculated as the destination floor.
3. The elevator control apparatus according to claim 2,
the expansion/contraction amount estimator estimates the count error of each starting floor from which movement is started, and stores information on the estimated count error and information on a floor corresponding to the starting floor in the expansion/contraction amount memory in association with each other.
4. The elevator control apparatus according to claim 2,
the expansion/contraction amount estimator estimates a count error of a floor for which a count error is not estimated by interpolating the floor according to the count errors corresponding to the floors and stores the estimated count error in the expansion/contraction amount memory when the floor for which the count error is not estimated exists, the count errors corresponding to the floors are estimated, and the calculated count error is stored in the expansion/contraction amount memory.
5. The elevator control apparatus according to any one of claims 2 to 4,
the expansion/contraction amount estimator estimates the count error every time the movement starts from the departure floor, and updates the data in the expansion/contraction amount memory based on the newly estimated count error.
6. The elevator control apparatus according to any one of claims 2 to 4,
the expansion/contraction quantity estimator has a function of reading out data in the expansion/contraction quantity memory and transmitting the data to the outside in accordance with a request command from the outside.
7. The elevator control apparatus according to any one of claims 2 to 4,
the elevator control device further includes a characteristic correction unit that corrects the current position of the car output from the current position calculator based on dynamic characteristics of the amount of expansion and contraction of the governor rope.
8. The elevator control apparatus according to claim 7,
the characteristic correction unit is configured by a low-pass filter that cuts a high-frequency band of the output of the current position calculator.
9. The elevator control apparatus according to any one of claims 2 to 4,
the elevator control device further includes an adjustment arithmetic unit that acquires landing error measurement information actually measured when the elevator control device stops at a destination floor, and adjusts the count error estimated by the expansion/contraction amount estimator based on the landing error measurement information.
10. The elevator control apparatus according to claim 9, wherein,
the adjustment arithmetic unit calculates an amplification factor from the floor-stopping error measurement information, and performs adjustment by multiplying the count error estimated by the expansion/contraction amount estimator by the amplification factor.
11. The elevator control apparatus according to claim 10,
the adjustment arithmetic unit performs adjustment of increasing or decreasing the magnification a plurality of times based on the result of determining whether the floor-standing error measurement information is out of or within the evaluation reference range or out of the evaluation reference range, thereby converging the magnification.
12. The elevator control apparatus according to claim 10 or 11, wherein,
the adjustment arithmetic unit calculates the magnification from the count error estimated by the expansion/contraction amount estimator and the slice error measurement information.
13. The elevator control apparatus according to claim 12,
the adjustment arithmetic unit calculates a value obtained by dividing the addition result of the count error and the layer-stopping error measurement information by the count error as the amplification factor.
14. A speed governor rope expansion and contraction amount estimation method executed by a current position calculator in an elevator control device having the current position calculator that calculates a current position of a car from a count value of a pulse count signal of a speed governor encoder output in correspondence with rotation of a speed governor around which a speed governor rope connected to the car of an elevator is looped, the speed governor rope expansion and contraction amount estimation method comprising:
a movement amount calculation step of calculating, based on the count value of the speed governor encoder, a movement amount of the car during a period from a 1 st state to a 2 nd state in which a floor stop detector provided in the car detects any of floor stop boards provided in correspondence with respective floor positions of a building during a stop of the car, the 2 nd state being a state in which the car starts moving and the floor stop detector does not detect the floor stop board in association with movement of the car caused by driving of a motor that performs speed control based on a speed command value corresponding to an acceleration/deceleration pattern;
an estimating step of estimating a count error of the pulse count signal output from the governor encoder as a value of an error of a car position generated by expansion and contraction of spring characteristics of the governor rope at the time of acceleration and deceleration of the car by comparing the movement amount of the car calculated in the movement amount calculating step with an actual length of the stop floor, thereby estimating an amount of expansion and contraction of the governor rope at a floor where movement is started.
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| CN201910941480.4A CN110723612B (en) | 2015-06-19 | 2015-06-19 | Elevator control device and speed governor rope expansion amount estimation method |
| CN201580081024.7A CN107709212B (en) | 2015-06-19 | 2015-06-19 | Elevator control gear and the flexible amount estimation method of overspeed governor |
| PCT/JP2015/067776 WO2016203650A1 (en) | 2015-06-19 | 2015-06-19 | Elevator control apparatus and method for estimating expansion/contraction amount of governor rope |
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| WO2016063379A1 (en) * | 2014-10-22 | 2016-04-28 | 三菱電機株式会社 | Elevator control apparatus |
| WO2016203650A1 (en) * | 2015-06-19 | 2016-12-22 | 三菱電機株式会社 | Elevator control apparatus and method for estimating expansion/contraction amount of governor rope |
| WO2017103968A1 (en) | 2015-12-14 | 2017-06-22 | 三菱電機株式会社 | Elevator control device |
| WO2018173146A1 (en) * | 2017-03-22 | 2018-09-27 | 三菱電機株式会社 | Elevator control device and method for estimating extension amount of hoisting rope |
| WO2018235245A1 (en) * | 2017-06-22 | 2018-12-27 | 三菱電機株式会社 | Elevator device |
| CN112752725B (en) * | 2018-10-02 | 2022-07-12 | 三菱电机株式会社 | Characteristic control device for speed governor system and elevator device |
| JP6958767B2 (en) * | 2019-07-05 | 2021-11-02 | 三菱電機株式会社 | Elevator control system |
| CN111847143A (en) * | 2020-08-25 | 2020-10-30 | 陈军 | Novel elevator leveling method and leveling device |
| CN114180433B (en) * | 2021-12-13 | 2023-05-12 | 深圳市海浦蒙特科技有限公司 | Elevator steel wire rope slip detection method and system |
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| JPS55106977A (en) * | 1979-02-06 | 1980-08-16 | Tokyo Shibaura Electric Co | Elevator position detector |
| JPS56117969A (en) * | 1980-02-22 | 1981-09-16 | Hitachi Ltd | Device and method of controlling elevator |
| DE3864091D1 (en) * | 1987-06-30 | 1991-09-12 | Inventio Ag | ACTUAL VALUE FOR THE POSITION CONTROL CIRCUIT OF A LIFT DRIVE. |
| JPH0912245A (en) * | 1995-06-28 | 1997-01-14 | Hitachi Ltd | Elevator position detection device |
| EP1357074B1 (en) * | 2000-11-08 | 2009-07-01 | Mitsubishi Denki Kabushiki Kaisha | Main rope elongation compensating device for elevator |
| JP2005126185A (en) * | 2003-10-23 | 2005-05-19 | Mitsubishi Electric Corp | Landing control device for elevator |
| FI118335B (en) * | 2004-07-30 | 2007-10-15 | Kone Corp | Elevator |
| JP2006176215A (en) * | 2004-12-20 | 2006-07-06 | Toshiba Elevator Co Ltd | Elevator device |
| JP2008044680A (en) * | 2006-08-10 | 2008-02-28 | Toshiba Elevator Co Ltd | Control device of elevator |
| WO2009093317A1 (en) * | 2008-01-24 | 2009-07-30 | Mitsubishi Electric Corporation | Elevator system, and floor arrival position detecting device for use in the system |
| CN102344063A (en) * | 2011-09-29 | 2012-02-08 | 日立电梯（中国）有限公司 | Detection system of elevator sedan absolute position |
| EP2676915B1 (en) * | 2012-06-22 | 2016-08-10 | Kone Corporation | Elevator |
| JP2014234261A (en) * | 2013-06-03 | 2014-12-15 | 株式会社日立製作所 | Load detection method and load detection device for elevator |
| JP6317077B2 (en) * | 2013-07-05 | 2018-04-25 | 株式会社日立製作所 | Elevator safety system |
| JP5741746B2 (en) * | 2014-03-27 | 2015-07-01 | 株式会社日立製作所 | Elevator system |
| WO2016203650A1 (en) * | 2015-06-19 | 2016-12-22 | 三菱電機株式会社 | Elevator control apparatus and method for estimating expansion/contraction amount of governor rope |
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| KR20180018746A (en) | 2018-02-21 |
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