CN112752725B - Characteristic control device for speed governor system and elevator device - Google Patents

Abstract

A characteristic control device for a speed governor system is provided with: a generation unit that generates state information indicating a state of a governor system based on a detected value of a physical quantity related to a governor rope connected to a car, the governor system including a governor device, a characteristic changing device, a 1 st car position detection unit that detects a position of the car based on the physical quantity related to the governor rope, and the governor rope connected to the car; and a control unit that controls a characteristic changing device that changes the characteristic of the speed governor system based on the state information generated by the generation unit, and changes the characteristic so that the detection error of the 1 st car position detection unit is reduced.

Description

Characteristic control device for speed governor system and elevator device

Technical Field

The present invention relates to a characteristic control device for a speed governor system and an elevator apparatus having the characteristic control device.

Background

Some elevator apparatuses installed in high-rise buildings use an encoder attached to a governor device for detecting the position of a car. The length of the rope used in such an elevator apparatus increases according to the height of the building. The longer the rope, the lower the rigidity and the easier it is to deform. Therefore, the higher the building is, the more easily the governor rope swings.

The force exerted on the governor rope changes due to the swinging. The governor rope expands and contracts due to the change in force, and vibrates according to the situation. The expansion and contraction of the governor rope and the vibration thereof reduce the accuracy of detecting the position of the car by the encoder attached to the governor device. As a result, conventionally, when a building sway is detected, the tension of the governor rope is varied as necessary, thereby suppressing the sway of the governor rope (see, for example, patent document 1).

Documents of the prior art

Patent literature

Patent document 1: japanese laid-open patent publication No. 2007-119185

Disclosure of Invention

Problems to be solved by the invention

A force caused by acceleration and deceleration when the car is lifted and lowered is applied to the governor rope. This force may cause the governor rope to sway. Further, when the car is swung by a passenger, the swing of the car is transmitted to the governor rope, and the governor rope may be swung. In this way, the governor rope also swings due to a factor other than the swing of the building, that is, due to the operating state of the elevator apparatus.

The hunting that occurs in the governor rope may cause a reduction in the accuracy of detecting the car position by the encoder attached to the governor device. Therefore, when the detection position by the governor system is used for controlling the stop position of the elevator car, it is important to suppress the hunting of the governor rope due to the operating state of the elevator apparatus even in a situation where the building hunting is not generated in order to suppress the reduction in the car position detection accuracy by the governor system.

The present invention has been made to solve the above problem, and an object thereof is to provide a characteristic control device and an elevator device that can suppress a position detection error of a car in a governor system due to an operating state of the elevator device.

Means for solving the problems

A characteristic control device for a speed governor system according to the present invention includes: a generation unit that generates state information indicating a state of a governor system based on a detected value of a physical quantity related to a governor rope, the governor system including a governor device, a characteristic changing device, a first car position detection unit that detects a position of a car based on the physical quantity related to the governor rope connected to the car, and the governor rope connected to the car; and a control unit that controls a characteristic changing device that changes the characteristic of the speed governor system based on the state information generated by the generation unit, and changes the characteristic so that the detection error of the 1 st car position detection unit is reduced.

Effects of the invention

According to the present invention, it is possible to suppress a position detection error of the car in the governor system due to the operating state of the elevator apparatus.

Drawings

Fig. 1 is a diagram showing a configuration example of an elevator apparatus according to embodiment 1 of the present invention.

Fig. 2 is a diagram showing a modification 1 of the structure of an elevator apparatus according to embodiment 1 of the present invention.

Fig. 3 is a diagram showing a modification 2 of the structure of an elevator apparatus according to embodiment 1 of the present invention.

Fig. 4 is a diagram showing a functional configuration example of a characteristic control device used in an elevator apparatus according to embodiment 1 of the present invention.

Fig. 5 is a diagram showing a configuration example of an elevator apparatus according to embodiment 2 of the present invention.

Fig. 6 is a diagram showing a modification 1 of the structure of an elevator apparatus according to embodiment 2 of the present invention.

Fig. 7 is a diagram showing a modification 2 of the structure of an elevator apparatus according to embodiment 2 of the present invention.

Fig. 8 is a diagram showing a functional configuration example of a characteristic control device used in an elevator apparatus according to embodiment 2 of the present invention.

Fig. 9 is a diagram showing a functional configuration example of a characteristic control device used in an elevator apparatus according to embodiment 3 of the present invention.

Fig. 10 is a diagram illustrating an example of information output from the resonance frequency calculation unit to the control unit.

Fig. 11 is a flowchart showing the overall flow of processing executed by the control unit.

Fig. 12 is a diagram showing a configuration example of an elevator apparatus according to embodiment 4 of the present invention.

Fig. 13 is a diagram showing a functional configuration example of a characteristic control device used in an elevator apparatus according to embodiment 4 of the present invention.

Fig. 14 is a diagram showing a modification of the functional configuration of a characteristic control device used in an elevator apparatus according to embodiment 4 of the present invention.

Fig. 15 is a configuration diagram showing a case where each function of the characteristic control device used in the elevator devices according to embodiments 1 to 4 of the present invention is realized by a processing circuit as dedicated hardware.

Fig. 16 is a configuration diagram showing a case where each function of the characteristic control device used in the elevator devices according to embodiments 1 to 4 of the present invention is realized by a processing circuit having a processor and a memory.

Detailed Description

Hereinafter, embodiments of a characteristic control device and an elevator device having the characteristic control device according to the present invention will be described with reference to the drawings. Here, the same or corresponding components are denoted by the same reference numerals.

Embodiment mode 1

Fig. 1 is a diagram showing a configuration example of an elevator apparatus according to embodiment 1 of the present invention. The elevator apparatus 1 is installed in, for example, a high-rise building. As shown in fig. 1, an elevator apparatus 1 includes a main rope system 2, a speed governor system 3, an elevator control device 4, and a characteristic control device 5.

The main rope system 2 is a system for raising and lowering a car 21 on which a user rides. As shown in fig. 1, the main rope system 2 has a car 21, main ropes 22, a counterweight 23, a hoisting machine 24, a deflector sheave 25, a compensating rope 26, and a compensating sheave 27. Hereinafter, the compensating rope 26 is simply referred to as "compensating rope 26", and the compensating sheave 27 is simply referred to as "compensating sheave 27".

One end of the main rope 22 is connected to the car 21, and the other end is connected to the counterweight 23. The traction machine 24 is a device that generates power and transmits the generated power to the main ropes 22. The hoisting machine 24 is disposed between the car 21 and the counterweight 23. The car 21 and the counterweight 23 are suspended by the hoisting machine 24. Alternatively, the following structure is also possible: both ends of the main rope 22 are fixed to a building, the load of the car 21 is supported by a movable sheave provided on one side via a hoisting machine 24, and a counterweight is suspended by the movable sheave on the other side.

The deflector sheave 25 is a pulley for adjusting the position at which the main rope 22 is suspended from the counterweight 23 or the position at which the main rope 22 is suspended from the car 21. The compensating ropes 26 are ropes for compensating for a weight difference between the car 21 side and the counterweight 23 side of the main ropes 22 bounded by the hoisting machine 24. One end of the compensating rope 26 is connected to the car 21, and the other end is connected to the counterweight 23. The compensating tensioner 27 guides the compensating rope 26 and applies tension to the compensating rope 26.

In addition, the main rope system 2 is not limited to the structure shown in fig. 1. For example, the structure of the non-deflecting roller 25 can be adopted. Further, the structure of the uncompensated rope 26 and the compensating sheave 27 can be adopted.

The governor system 3 is a system for detecting overspeed of the car 21. As shown in fig. 1, the governor system 3 includes a governor device 31, a governor rope 32, a governor tensioning sheave 33, a 1 st car position detecting section 34, and a characteristic changing device 35.

Both ends of the governor rope 32 are annularly connected by a not-shown connecting portion, and the connecting portion is gripped by the car 21. Thereby, both ends of the governor rope 32 are connected to the car 21. The governor rope 32 is tensioned between the governor device 31 and the governor tensioning sheave 33. The governor device 31 rotates in conjunction with movement of the governor rope 32 accompanying the raising and lowering of the car 21, and mechanically or electrically detects an overspeed of the car 21. When an overspeed is detected, the governor device 31 operates an emergency stop device, not shown, provided in the car 21.

The 1 st car position detecting portion 34 attached to the governor device 31 detects the position of the car 21. The 1 st car position detection unit 34 is configured using, for example, an encoder.

The governor device 31 is provided with a characteristic changing device 35. The characteristic changing device 35 is a device for changing the characteristic of the speed governor system 3. Here, the characteristic of the governor system 3 refers to a mechanical property or state quantity of the governor system 3. For example, the magnitude of the load required to drive the governor rope 32, in other words, the inertial property of the governor system 3 related to the driving of the governor rope 32 corresponds to an example of the characteristics of the governor system 3. Details of the characteristic changing device 35 itself and a specific example of the characteristic that can be changed by the characteristic changing device 35 will be described later. Hereinafter, this characteristic is referred to as "mechanical characteristic".

In addition, the governor system 3 is not limited to the structure shown in fig. 1. For example, a governor-less tension pulley 33 may be configured such that the governor tension pulley 33 applies tension to the governor rope 32.

In fig. 1, only the hoisting machine 24 is connected to the elevator control apparatus 4. However, the governor device 31 and the 1 st car position detection unit 34 are also connected to the elevator control device 4 in addition to the hoisting machine 24. The elevator control device 4 controls the entire elevator device 1.

The 1 st car position detection unit 34 detects the position of the car 21 based on the rotation of the governor device 31, and outputs the detection result to the elevator control device 4. The governor device 31 outputs overspeed information indicating whether or not the speed of the car 21 exceeds a speed determined as a threshold value to the elevator control device 4. In fig. 1, the 1 st car position detecting unit 34 is attached to the governor device 31, but may be attached to a rotating body other than the governor device 31, for example, as in the governor tensioning sheave 33.

The elevator control device 4 outputs a drive command for driving the hoisting machine 24, a stop command for stopping the hoisting machine 24, and the like, and controls the hoisting machine 24. A brake is mounted on the hoisting machine 24. The elevator control device 4 also controls the brake of the hoisting machine 24 together. The position of the car 21 detected based on the signal output from the 1 st car position detecting unit 34 is used for controlling the hoisting machine 24. The overspeed information output from the governor device 31 is used to control a brake, not shown, provided to the car 21.

The car 21 is provided with a scale device for weighing the total weight of a user, goods, and the like located in the car 21, in addition to the brake. The elevator control device 4 can control the brake as necessary to acquire weight information indicating the total weight weighed by the weighing device. If the weight information can be acquired, the elevator control device 4 may output a command for generating a torque capable of holding the car 21 at a standstill to the hoisting machine 24 based on the acquired weight information.

As shown in fig. 1, the elevator control device 4 is also connected to a characteristic control device 5. The characteristic control device 5 controls the characteristic changing device 35 to change the mechanical characteristic of the governor system 3 as necessary. In fig. 1, the characteristic control device 5 and the characteristic changing device 35 are directly connected, but they may be indirectly connected. That is, the characteristic control device 5 may control the characteristic changing device 35 via another device.

The characteristic changing device 35 can be attached to the governor device 31. However, the position where the characteristic changing device 35 is attached is not limited to the governor device 31. The characteristic changing device 35 may be installed in a place where the mechanical characteristics of the governor system 3 can be changed. Therefore, for example, as shown in fig. 2, the characteristic changing device 35 may be attached to the governor tensioning pulley 33. Alternatively, as shown in fig. 3, the characteristic changing device 35 may be provided at a position where the frictional force is directly or indirectly applied to the governor tensioner pulley 31. The characteristic changing device 35 may be provided at a position where the frictional force directly or indirectly acts on the governor tensioner 33. The characteristic changing device 35 may be provided at a position where a frictional force or a torque acts on the governor rope 32. Further, a plurality of characteristic changing devices 35 may be provided.

As shown in fig. 1, the 1 st car position detection unit 34 is provided in the governor system 3. Then, the 1 st car position detecting portion 34 as the 1 st car position detecting portion detects the position of the car 21 as a detected value of a physical quantity related to the governor rope 32. The position detection result of the 1 st car position detecting portion 34 changes depending on the state of the swing generated in the governor rope 32. That is, when the hoisting machine 24 is stopped, the swing generated in the governor rope 32 may rotate the governor device 31 to which the 1 st car position detecting portion 34 is attached. When the hoisting machine 24 is driven, the swing generated in the governor rope 32 may cause the governor device 31 to change in rotational speed. The hunting generated in the governor rope 32 deteriorates the position detection accuracy of the car 21.

The swinging of the governor rope 32 is caused by acceleration and deceleration at the time of the lifting of the car 21. When the car 21 swings due to the swing, impact, or the like of the main hoist rope 22, the governor rope 32 also swings. In this way, even in a situation where the building is not swinging, the governor rope 32 swings due to the operating state of the elevator apparatus 1.

The characteristic changing device 35 is provided to suppress, that is, reduce, the swing of the governor rope 32 that causes such a reduction in position detection accuracy. Therefore, the control of the characteristic changing device 35 to change the mechanical characteristic of the governor system 3 is performed to suppress the hunting of the governor rope 32. By suppressing the hunting of the governor rope 32, a situation in which the position detection accuracy is degraded can be avoided. Further, the period until the position detection accuracy is lowered can be further shortened.

The deterioration in the position detection accuracy is basically caused by the swing including the expansion and contraction of the governor rope 32. For example, vertical vibration of the car 21 causes a swing including expansion and contraction of the governor rope 32. Due to such swinging of the governor rope 32, a detection error occurs in the position of the car 21 detected by the 1 st car position detecting portion 34 with respect to the actual position of the car 21.

More specifically, the swinging of the governor rope 32 causes a delay in transmission of the governor rope 32 to the rotating body to which the 1 st car position detecting unit 34 is attached, and rotational abnormalities such as rotational positional deviation of the rotating body due to a tension difference around the rotating shaft. The abnormal rotation generated in the rotating body to which the 1 st car position detecting portion 34 is attached causes a position detection error. When the vibration of the car 21 includes a resonant frequency component of the governor system 3, the governor rope 32 may swing more largely. The greater the swing of the governor rope 32, the greater the degree of the rotational abnormality occurring in the rotating body, and the greater the position detection error. The characteristic control device 5 controls the characteristic changing device 35 to suppress the hunting of the governor rope 32.

Fig. 4 is a diagram showing a functional configuration example of a characteristic control device used in an elevator apparatus according to embodiment 1 of the present invention. Next, the functional configuration of the characteristic control device 5, the control of the characteristic changing device 35 by the functional configuration, and the mechanical characteristics of the governor system 3 changed by the control will be described in detail with reference to fig. 4.

As described above, the 1 st car position detecting unit 34 is connected to the elevator control device 4. The characteristic control device 5 controls the characteristic changing device 35 using the detection result of the 1 st car position detecting unit 34. Therefore, fig. 4 shows a state in which the 1 st car position detection unit 34 is directly connected to the characteristic control device 5. Actually, the 1 st car position detection unit 34 is connected to the characteristic control device 5 via the elevator control device 4.

As shown in fig. 4, the characteristic control device 5 includes a generation unit 51 and a control unit 52. The generation unit 51 acquires the position of the car 21 output by the 1 st car position detection unit 34 as a detected value of a physical quantity related to the governor rope 32. Then, the control unit 52 generates position information as state information indicating the state of the speed governor system 3 from the acquired position. In fig. 4, the position indicated by the position information is denoted by "p".

As shown in fig. 4, the generation unit 51 has 2 differentiation units 511 and 512. Each of the 2 differentiating sections 511, 512 performs a time differentiation operation. The position information indicating the position p is input to the differentiating section 511. The differentiating unit 511 performs a time differentiation operation of the position p to calculate the velocity v of the car 21. That is, the differentiating unit 511 can generate speed information as state information indicating the state of the governor system 3 from a position obtained as a detected value of a physical quantity related to the governor rope 32.

The velocity information indicating the velocity v calculated by the differentiating section 511 is input to the differentiating section 512. The differentiating unit 512 performs a time differentiation operation of the velocity v indicated by the velocity information to calculate the acceleration a of the car 21. That is, the differentiating section 512 can generate acceleration information as state information indicating the state of the governor system 3 from a position obtained as a detected value of a physical quantity related to the governor rope 32.

The position information indicating the position p, the velocity information indicating the velocity v, and the acceleration information indicating the acceleration a generated by the generator 51 are input to the controller 52. In addition, the calculation of the velocity v and the calculation of the acceleration a may be performed by an operation different from the time differentiation operation.

The generation unit 51 may generate at least one of the position information, the speed information, and the acceleration information as state information indicating the state of the speed governor system 3 and output the state information to the control unit 52.

The control unit 52 directly drives the characteristic changing device 35, or generates a command indicating the driving content and outputs the command to the characteristic changing device 35. Here, for convenience, it is assumed that the control unit 52 outputs a command. That is, the characteristic changing device 35 operates in accordance with a command received from the control unit 52.

The control unit 52 determines a position pulsation amount, a speed pulsation amount, and an acceleration pulsation amount from the time transitions of the position p, the speed v, and the acceleration a. Then, the control unit 52 determines the control content of the characteristic changing device 35 so as to reduce at least one of the position pulsation amount, the velocity pulsation amount, and the acceleration pulsation amount.

Here, the equations of motion of the rotating system of the governor system 3 are defined as equations (1) and (2).

τ＝J·a+D·v+K·p (1)

τ+τc＝J·a+D·v+K·p (2)

In the above equations (1) and (2), J is a moment of inertia coefficient of the governor system 3, D is a damping coefficient, K is a stiffness coefficient of the governor rope 32, τ is a torque applied to the governor system 3 by an external factor such as vibration of the car 21, and τ c is a torque applied to the governor system 3.

The expression (1) is derived to obtain a change amount of the mechanical characteristics of the governor system 3. Thus, when changing the mechanical characteristics of the governor system 3, the value on the right side of equation (1) or the value on the left side of equation (1) may be considered.

When the value on the right side of equation (1) is changed, at least one of the 3 coefficients present on the right side is changed. In the case of the left side of the modification (2), the torque τ c is applied by the characteristic modification device. The applied torque τ c is consequently equivalent to varying at least one of the 3 coefficients present on the right. In other words, applying the determined torque τ to the governor system 3 is equivalent to changing at least one of the 3 coefficients existing on the right side of equation (2).

Both velocity v and acceleration a exist orientations. Therefore, the speed v and the acceleration a have positive and negative values, and the calculated torques τ and τ c also have positive and negative values. The sign of the torque τ, τ c indicates the direction in which the torque τ should be applied.

The torque τ c applied by the characteristic changing device 35 may be a value proportional to at least one of the position p, the velocity v, and the acceleration a. In determining the torque τ c, a value obtained by applying filtering to at least one of the position p, the velocity v, and the acceleration a may be used. When determining the torque τ c, a pulsation amount of at least one of the position p, the velocity v, and the acceleration a may be determined, and a value proportional to the determined pulsation amount or a value obtained by applying a filter to the pulsation amount may be used. In determining the torque τ c, a plurality of values may be calculated using at least one of the position p, the velocity v, and the acceleration a, and the sum of the plurality of calculated torques may be used. As described above, the method of determining the torque τ c applied by the characteristic changing device 35 has various modifications. Whatever determination method is adopted, the determined torque τ is applied to the speed governor system 3, and as a result, at least one of the 3 coefficients existing on the right side of equation (2) changes.

The position p, the velocity v, and the acceleration a are all state information. The type and combination of the state information can be determined, for example, according to the mechanical characteristics of the operation target of the speed governor system 3.

When the characteristic changing device 35 is a rotating electric machine, the characteristic control device 5 can apply torque to the governor system 3, increase or decrease the moving load of the governor rope 32, and the like. In this case, the characteristic changing device 35 may be provided at any position in fig. 1 to 3.

When the characteristic changing device 35 is a brake that is a braking device mounted on the governor device 31 or the governor tensioning sheave 33, the characteristic control device 5 can apply a load torque to the governor system 3 by causing a frictional force to act on the governor device 31, the governor tensioning sheave 33, or the governor rope 32. In this case, the characteristic changing device 35 may be provided at any position in fig. 1 to 3.

The characteristic changing device 35 may be a flywheel having a variable inertia mechanism. When this flywheel is used as the characteristic changing device 35, as shown in fig. 1 or 2, the characteristic changing device 35 may be attached to any one of the rotating bodies of the governor device 31 and the governor tensioner 33.

The variable inertia mechanism provided in the flywheel includes, for example, a plurality of weights that can move in a radial direction, and a mechanism that can support and move the plurality of weights. The variable inertia mechanism may further include a power source such as a rotating motor that can move the counterweight. The power source may also be provided separately from the variable inertia mechanism. For convenience, it is assumed here that the variable inertia mechanism further includes a power source and a drive circuit that drives the power source.

The moment of inertia of the flywheel having the variable inertia mechanism varies depending on the position of the counterweight in the radial direction. The farther the counterweight is from the center, the greater the moment of inertia. The rotational inertia of the entire governor system 3, that is, the mechanical characteristics, also changes due to the rotational inertia of the governor device 31 or the governor tensioning sheave 33 being changed by moving the weight of the flywheel. Hereinafter, unless otherwise specified, "flywheel" refers to a flywheel having a variable inertia mechanism.

The control unit 52 can determine the amount of change in the moment of inertia of the governor device 31 or the governor tensioning sheave 33 using, for example, the same equation as equation (1). Alternatively, the control unit 52 may calculate the amount of change in the moment of inertia using a conversion equation or a table for calculating the amount of change in the moment of inertia from the torque τ calculated by equation (1).

When the governor rope 32 swings due to expansion and contraction or the like, at least one of the position p, the velocity v, and the acceleration a pulsates. The characteristic control device 5 controls the characteristic changing device 35 to apply torque or increase or decrease the moment of inertia so that at least one of the pulsation amount of the position p, the pulsation amount of the velocity v, and the pulsation amount of the acceleration a is decreased. Thus, the characteristic control device 5 can suppress the hunting of the governor rope 32 by controlling the characteristic changing device 35 so that at least one of the moment of inertia coefficient J and the damping coefficient D of the equation (1), for example, changes.

For example, the characteristic changing device 35 is a flywheel, and when the moment of inertia of the flywheel is increased, the moment of inertia of the governor system 3 is also increased. The inertia moment coefficient J of equation (1) is a value that is an index of the inertia moment of the governor system 3 and varies depending on the inertia moment. Therefore, the inertia moment coefficient J also increases with an increase in the inertia moment of the governor system 3. In addition, the force applied to the car 21 by the governor system 3 is smaller than the force applied to the car 21 by the hoisting machine 24. Therefore, the change in the mechanical characteristics of the governor system 3 has less influence on the movement of the car 21. Therefore, the influence of the change in the mechanical characteristics on the main rope system 2 can be ignored.

The governor rope 32 is less likely to sway than before the moment of inertia coefficient J is increased by controlling the characteristic changing device 35 so as to increase the moment of inertia coefficient J. Even if a torque is applied in a direction in which the hunting decreases, the hunting of the governor rope 32 can be suppressed. Therefore, increasing the inertia moment coefficient J after suppressing the hunting of the governor rope 32 is equivalent to applying a torque in a direction in which the hunting decreases. By suppressing the swing of the governor rope 32, the degree of the abnormal rotation generated in the rotating body to which the 1 st car position detecting portion 34 is attached can be suppressed. As a result, the position detection accuracy of the car 21 can be suppressed from being lowered.

Even when the position of the car 21 is not pulsating but only the governor rope 32 vibrates, a decrease in position detection accuracy can be suppressed by suppressing the hunting of the governor rope 32. This is because a tension difference or the like around the rotation axis that causes a rotational position deviation of the governor device 31 or the governor tensioning sheave 33 can be suppressed. This rotational position deviation is one of rotational abnormalities, and causes an error in the signal output from the 1 st car position detecting portion 34.

The application of torque to the speed governor system 3 can be realized by using a rotating electric machine or a brake as the characteristic changing device 35, as described above, for example. The rotating electric machine can apply a torque as the 1 st load torque in both the direction in which the load of the speed governor system 3 increases and the direction in which the load decreases. Further, the brake can apply a torque as the 2 nd load torque in a direction in which the load of the speed governor system 3 increases.

As another example, when the damping coefficient D of expression (1) is increased, for example, a rotating electrical machine may be used as the characteristic changing device 35, and the rotating electrical machine may be used as a generator, in other words, as a brake. Alternatively, an eddy current brake may be used as the characteristic changing device 35. When the rotating electric machine is used as a generator, the higher the speed v, the greater the load, and therefore the damping coefficient D can be increased. When an eddy current brake is used as the characteristic changing device 35, the damping coefficient D can be increased because the braking force varies depending on the speed v.

In the case where the characteristic changing device 35 is controlled so as to increase the damping coefficient D, for example, a low-pass filter, a band-pass filter, or the like may be used to extract the pulsation component of the velocity v, and a torque proportional to only the pulsation component may be applied in a direction in which the pulsation component decreases. As a result, the pulsation amount of the speed v is reduced, and the position detection accuracy of the 1 st car position detecting portion 34 can be suppressed from being lowered.

When only the governor rope 32 vibrates although the position of the car 21 does not pulsate, the degree of rotational position deviation occurring in the rotor is further reduced by the increase in the damping coefficient D. Therefore, the position detection accuracy of the 1 st car position detecting portion 34 can be suppressed from being lowered.

The moment of inertia coefficient J, the damping coefficient D, and the stiffness coefficient K in the formula (1) may be changed independently by at least one of them, or may be changed by combining a plurality of them.

Further, it is preferable that the characteristic control device 5 performs phase compensation based on the positional relationship between the characteristic changing device 35 and the 1 st car position detecting unit 34. For example, the transmission characteristics between the 1 st car position detecting unit 34 and the characteristic changing device 35 are obtained in advance or by learning, and the phase compensation can be performed based on the inverse characteristics thereof. By performing this phase compensation, it is possible to suppress the occurrence of rotational pulsation about the rotational axis that affects the 1 st car position detecting unit 34 of the governor system 3 as the characteristic changing device 35 changes the mechanical characteristic. Therefore, even in a situation where the governor rope 32 vibrates largely with respect to the car 21, a detection position error can be suppressed.

The swinging of the governor rope 32 is usually caused by the movement of the car 21, that is, the operating state of the elevator apparatus 1. Embodiment 1 can cope with the swing of the governor rope 32 caused by the operating state of the elevator apparatus 1. In addition, even when the governor rope 32 swings due to the swinging of the building in which the elevator apparatus 1 is installed, the present embodiment 1 can deal with suppressing the swinging of the governor rope. This is because, for any reason, the swing of the governor rope 32 can be suppressed by the change in the mechanical characteristics.

For example, the pulsation amount of at least one of the position p, the velocity v, and the acceleration a may be obtained, and the mechanical characteristics may be changed when the obtained pulsation amount is equal to or greater than a set threshold value. In this case, the mechanical characteristics after the change may be returned as they are on the condition that the obtained pulsation amount is smaller than the set threshold. The mechanical characteristics can be changed at any time when the car 21 is stopped and when the car 21 is raised and lowered.

After the obtained pulsation amount is smaller than the set threshold, the control unit 52 may not change the mechanical characteristics again and return the changed mechanical characteristics to the state before the change. The reason why the mechanical characteristics can not be changed again is that the mechanical characteristics are changed to suppress pulsation, and the hunting of the governor rope 32 can be suppressed. The mechanical characteristics may be changed again according to the situation until the obtained pulsation amount becomes smaller than the set threshold. When the mechanical characteristics are changed again, it is expected that the hunting of the governor rope 32 is further suppressed. It is also possible to expect a further reduction in the period during which the governor rope 32 swings.

When the mechanical characteristics are changed again, the control unit 52 may change the mechanical characteristics under different conditions and with different control contents from those in the previous change. For example, the control unit 52 may monitor a change in at least one of the position p, the velocity v, and the acceleration a, and change the calculation method according to the change in the pulse amount.

As described above, the characteristic control device 5 of the speed governor system according to embodiment 1 has the following functions.

At least one of the position information, the speed information, and the acceleration information of the car is generated as the state information indicating the state of the governor system 3, based on the detected value of the position of the car, which is the detected value of the physical quantity related to the governor system 3.

A pulse amount is obtained from the generated state information, and a characteristic changing device 35 provided to change the characteristic of the speed governor system 3 is controlled in a direction in which the pulse amount decreases to change the characteristic.

As a result, the characteristic control device 5 of the governor system 3 can be realized that can suppress the hunting of the governor rope 32 due to the operating state of the elevator apparatus 1. Therefore, the elevator apparatus 1 of embodiment 1 can also be realized.

Embodiment mode 2

Fig. 5 is a diagram showing a configuration example of an elevator apparatus according to embodiment 2 of the present invention. As in embodiment 1 described above, the elevator apparatus 1 shown in fig. 5 is installed in, for example, a high-rise building.

In embodiment 2, as shown in fig. 5, a method of suppressing the swinging of the governor rope by the 2 nd car position detecting portion 201 in addition to the configuration shown in embodiment 1 will be described, the 2 nd car position detecting portion 201 being provided in the main rope system 2. The 2 nd car position detecting unit 201 is attached to the hoisting machine 24 and detects the position of the car 21.

The 2 nd car position detecting unit 201 is configured by using an encoder, for example. The 2 nd car position detecting portion 201 may be an acceleration sensor, a position sensor, or the like attached to the car 21. That is, the 2 nd car position detecting portion 201 is used to detect the position of the car 21 via the main rope 22, or is directly attached to the car 21, and is used to detect the position of the car 21 from a change in at least one of the position of the car 21, the speed of the car 21, and the acceleration of the car 21.

In embodiment 2, as shown in fig. 5, the 2 nd car position detecting portion 201 is provided in the main rope system 2.

As shown in fig. 5, the characteristic changing device 35 can be attached to the governor device 31. As in embodiment 1 described above, the characteristic changing device 35 is a device for changing the mechanical characteristics of the governor system 3. Therefore, the position where the characteristic changing device 35 is attached is not limited to the governor device 31. For example, the characteristic changing device 35 may be attached to the governor tensioning sheave 33 as shown in fig. 6, or may be provided at a position where a frictional force or a torque is directly or indirectly applied to the governor device 31 as shown in fig. 7. The characteristic changing device 35 may be provided at a position where the frictional force or the torque is directly or indirectly applied to the governor tensioner 33. A plurality of characteristic changing devices 35 may be provided.

Fig. 8 is a diagram showing a functional configuration example of a characteristic control device used in an elevator apparatus according to embodiment 2 of the present invention. Next, the characteristic control device 5 of embodiment 2 will be described in detail with reference to fig. 8 focusing on differences from embodiment 1.

The characteristic control device 5 controls the characteristic changing device 35 by using the detection results of the 1 st car position detecting unit 34 and the 2 nd car position detecting unit 201. Therefore, fig. 8 shows a state in which the 1 st car position detecting unit 34 and the 2 nd car position detecting unit 201 are directly connected to the characteristic control device 5. Actually, as described above, the elevator control device 4 exists between each of the 1 st car position detecting portion 34 and the 2 nd car position detecting portion 201 and the characteristic control device 5.

As shown in fig. 8, the characteristic control device 5 includes a generation unit 51 and a control unit 52. The generation unit 51 acquires the 1 st position of the car 21 output by the 1 st car position detection unit 34 as a detected value of a physical quantity related to the governor rope 32. The generation unit 51 acquires the 2 nd position of the car 21 output by the 2 nd car position detection unit 201 as a detected value of a physical quantity related to the governor rope 32.

Then, the control unit 52 generates 1 st position information from the obtained 1 st position and 2 nd position information from the obtained 2 nd position as state information indicating the state of the speed governor system 3. In fig. 8, the 1 st position indicated by the 1 st position information is denoted as "p 1", and the 2 nd position indicated by the 2 nd position information is denoted as "p 2".

The generation unit 51 has 2 micro-units 511a and 511 for generating velocity information, 2 micro-units 512a and 512b for generating acceleration information, and 3 subtraction units 521a to 521c for generating difference components. All of the 4 differentiating sections 511a, 511b, 512a, 512b perform the time differentiating operation.

The differentiating unit 511a performs a time-differentiating operation at the 1 st position p1 to calculate the 1 st speed v1 of the car 21. Similarly, the differentiating section 511b performs a time-differentiating operation of the 2 nd position p2 to calculate the 2 nd speed v2 of the car 21.

That is, the differentiating unit 511a can generate the 1 st speed information as the state information indicating the state of the speed governor system 3 based on the 1 st position p1 acquired as the detected value of the physical quantity related to the speed governor rope 32. Similarly, the differentiating unit 511b can generate the 2 nd speed information as the state information indicating the state of the speed governor system 3, based on the 2 nd position p2 acquired as the detected value of the physical quantity relating to the speed governor rope 32.

The velocity information indicating the 1 st velocity v1 calculated by the differentiator 511a is input to the differentiator 512 a. The differentiating unit 512a performs a time differentiation operation of the 1 st speed v1 to calculate the 1 st acceleration a1 of the car 21. The velocity information indicating the 2 nd velocity v2 calculated by the differentiating section 511b is input to the differentiating section 512 b. The differentiating unit 512b performs a time-differentiation operation of the 2 nd speed v2 to calculate the 2 nd acceleration a2 of the car 21.

That is, the differentiating unit 512a can generate the 1 st acceleration information as the state information indicating the state of the speed governor system 3, based on the 1 st position p1 acquired as the detected value of the physical quantity relating to the speed governor rope 32. Similarly, the differentiating unit 512b can generate the 2 nd acceleration information as the state information indicating the state of the speed governor system 3, based on the 2 nd position p2 acquired as the detected value of the physical quantity relating to the speed governor rope 32.

Next, the subtracting unit 521a generates a difference amount obtained by subtracting the 1 st position p1 from the 2 nd position p2 as a position difference, and outputs the generated position difference to the control unit 52 as position difference information. The subtracting unit 521b generates a difference amount obtained by subtracting the 1 st velocity v1 from the 2 nd velocity v2 as a velocity difference, and outputs the generated velocity difference to the control unit 52 as velocity difference information. The subtracting unit 521c generates a difference amount obtained by subtracting the 1 st acceleration a1 from the 2 nd acceleration a2 as an acceleration difference, and outputs the generated acceleration difference to the control unit 52 as acceleration difference information.

The generation unit 51 may generate at least one of the position difference information, the speed difference information, and the acceleration difference information as state information indicating the state of the speed governor system 3 and output the generated state information to the control unit 52.

In embodiment 1 above, the position information, the velocity information, and the acceleration information are input to the control unit 52. Then, the control unit 52 controls the characteristic changing device 35 to further reduce or increase the pulse amount by using at least one of the position pulse amount, the velocity pulse amount, and the acceleration pulse amount as the pulse amount.

In contrast, in embodiment 2, position difference information, velocity difference information, and acceleration difference information are input to the control unit 52 instead of the position information, velocity information, and acceleration information. The control unit 52 controls the characteristic changing device 35 to reduce the difference amount by using at least one of the inputted position difference information, velocity difference information, and acceleration difference information as the difference amount.

By further reducing the difference amount, the swing of the governor rope 32 can also be reduced. Therefore, the degree of the abnormal rotation generated in the rotating body to which the 1 st car position detecting portion 34 is attached can be suppressed to be lower. As a result, the position detection accuracy of the 1 st car position detecting portion 34 can be suppressed from being degraded.

The mechanical characteristics may be changed based on the control of the characteristic changing device 35 when the difference amount of at least one of the position difference, the velocity difference, and the acceleration difference is equal to or greater than a set threshold value. In this case, the mechanical characteristics after the change may be returned as they are on the condition that the difference amount equal to or greater than the set threshold is smaller than the set threshold. The mechanical characteristics can be changed at any time when the car 21 is stopped and when the car 21 is raised and lowered.

When torque is applied to the speed governor system 3 by the characteristic changing device 35, the torque τ to be applied may be determined by using an expression having the same configuration as that of expression (1). In determining the torque τ, a value proportional to at least one of the position difference, the velocity difference, and the acceleration difference may be used. In determining the torque τ, a value obtained by applying filtering to at least one of the position difference, the velocity difference, and the acceleration difference may be used. In determining the torque τ, the sum of the calculated torques may be used. Thus, the method of determining the torque τ has various modifications. Whatever determination method is adopted, the determined torque τ is applied to the speed governor system 3, and as a result, at least one of the 3 coefficients existing on the right side of equation (1) changes.

As in embodiment 1, when a flywheel is used as the characteristic changing device 35, the characteristics of the speed governor system 3 may be changed by increasing or decreasing the moment of inertia of the rotating body to which the flywheel is attached, instead of applying torque. At least one of the 3 coefficients existing on the right side of equation (1), particularly the inertia moment coefficient J, can be changed by increasing or decreasing the inertia moment.

In embodiment 2, it is assumed that the accuracy of the 2 nd position p2 of the car 21 detected by the 2 nd car position detecting unit 201 attached to the main rope system 2 is higher than the accuracy of the 1 st position p1 of the car 21 detected by the 1 st car position detecting unit 34 attached to the governor system 3. Therefore, the control is performed so that the position difference, the speed difference, or the acceleration difference is further reduced, and the position detection accuracy of the 1 st car position detecting portion 34 approaches the position detection accuracy of the 2 nd car position detecting portion 201.

When the governor rope 32 vibrates largely with respect to the car 21, the detection position error of the 2 nd car position detecting portion 201 is smaller than the detection position error of the 1 st car position detecting portion 34. Therefore, by reducing the position difference, the speed difference, or the acceleration difference, as a result, the 1 st car position detecting portion 34 can suppress the error component included in the output signal. Therefore, the 1 st car position detecting portion 34 can be prevented from lowering in position detection accuracy.

As described above, the characteristic control device 5 of the speed governor system 3 according to embodiment 2 has the following functions.

A difference amount corresponding to at least one of the position difference information, the speed difference information, and the acceleration difference information of the car is generated as state information indicating the state of the speed governor system 3, based on 2 position detection values of the car, which are detection values of physical quantities related to the speed governor system 3.

Based on the generated state information, the characteristic changing device 35 provided to change the characteristic of the speed governor system 3 is controlled to change the characteristic in the direction in which the difference amount decreases.

As a result, the characteristic control device 5 of the governor system 3 can be realized that can suppress the swing of the governor rope 32 due to the operating state of the elevator apparatus 1. In particular, the position detection result of the car position detection unit 34 can be made closer to the more accurate position detection result of the car position detection unit 201, the car position detection unit 34 being attached to the governor system 3, and the car position detection unit 201 being attached to the main rope system 2. Therefore, the elevator apparatus 1 according to embodiment 2 can be realized.

Embodiment 3

In embodiment 3, the suppression of the position detection error when the car 21 swings will be described. For some reasons, such as a collision given by a user, there are cases where the car 21 swings relatively largely.

In this case, in a situation where the brake is applied to the hoisting machine 24, the change in the position of the car 21, the speed of the car 21, or the acceleration of the car 21 cannot be detected by the 2 nd car position detecting portion 201, and this 2 nd car position detecting portion 201 is attached to the main rope system 2. Even in a situation where no brake is applied to the hoisting machine 24, when the car 21 oscillates at the 1 st resonance frequency, which is the resonance frequency of the main ropes 22, the actual vibration of the car 21 may be larger than the vibration of the car 21 obtained from the detection result of the 2 nd car position detecting portion 201. That is, a large error may occur in the position of the car 21 detected by the 2 nd car position detecting portion 201.

In such a case, when the position difference, the speed difference, or the acceleration difference is calculated and the characteristic changing device 35 is controlled as in embodiment 2, the control is performed based on the information that the error of the 2 nd car position detecting portion 201 is large. As a result, the characteristic changing device 35 may not be appropriately controlled. In embodiment 3, the following configuration will be explained: even in a situation where the main rope is supposed to swing due to the resonance frequency, and the accuracy of detecting the position of the car 21 by the 2 nd car position detecting portion 201 is lowered, the characteristic changing device 35 can be controlled more appropriately. By controlling the characteristic changing device 35 more appropriately, it is possible to suppress an increase in the position detection error of the car 21 of the 1 st car position detecting portion 34.

Fig. 9 is a diagram showing a functional configuration example of a characteristic control device used in an elevator apparatus according to embodiment 3 of the present invention. First, the characteristic control device 5 according to embodiment 3 will be described in detail with reference to fig. 9.

As shown in fig. 9, the characteristic control device 5 according to embodiment 3 includes a generation unit 51, a control unit 52, a frequency analysis unit 531, and a resonance frequency calculation unit 532. That is, the characteristic control device 5 according to embodiment 3 includes, as functional configurations, the frequency analyzing unit 531 and the resonance frequency calculating unit 532 added from embodiment 2 described above. As described above, the 2 nd position information indicating the 1 st position p1 and the 2 nd position p2 is actually input from the elevator control device 4. In order to calculate the resonance frequency of the main rope 22, the characteristic control device 5 shown in fig. 9 inputs information other than 2 pieces of position information from the elevator control device 4.

The frequency analyzing unit 531 performs frequency analysis on the 1 st position p1, the 1 st speed v1 of the car 21, or the 1 st acceleration a1 of the car 21 using the position information indicating the 1 st position p 1. The frequency analysis unit 531 generates frequency amplitude information indicating an amplitude value for each frequency as a result of the frequency analysis, and outputs the generated frequency amplitude information to the control unit 52.

The resonance frequency calculation unit 532 receives position information indicating the 1 st position p1 or the 2 nd position p2 and car load information output from the elevator control device 4, and calculates the 1 st resonance frequency of the main rope 22. The calculated resonance frequency is input to the control unit 52 as resonance frequency information.

Here, the car load information is information indicating a load that changes according to the state of the car 21. In the case where the car 21 is provided with a weighing device, the weight measured by the weighing device is output from the elevator control device 4 to the characteristic control device 5 as one of car load information.

In the calculation of the 1 st resonance frequency, which is the resonance frequency of the main ropes 22, various physical information of the main rope system 2 is used in addition to the position information and the car load information. The various physical information includes the mass of the car 21, the mass of the counterweight 23, the mass of the compensating sheave 27, the young's modulus of the main rope 22, the young's modulus of the compensating rope 26, and the like. These various kinds of physical information are stored in the characteristic control device 5 in advance.

In addition, it is also possible to prepare the 1 st resonance frequency as a table for each combination of the car load information and the position of the car 21 on the assumption that the car load information and the positions of the car 21 are plural, and in this case, the 1 st resonance frequency may be obtained by using the prepared table. That is, the method of determining the 1 st resonance frequency is not particularly limited.

The control unit 52 reads the amplitude value of each frequency component indicated by the frequency amplitude information, that is, each frequency, and the 1 st resonance frequency indicated by the resonance frequency information. Then, the control portion 52 determines whether or not the position of the car 21 detected by the 1 st car position detecting portion 34 fluctuates due to the influence of the 1 st resonance frequency of the main rope 22.

Regarding the influence of the 1 st resonance frequency, the control portion 52 can perform the determination as to whether or not the position of the car 21 detected by the 1 st car position detecting portion 34 fluctuates due to the influence of the 1 st resonance frequency of the main rope 22, based on whether or not the amplitude value corresponding to the 1 st resonance frequency in the frequency amplitude information is the main component of the frequency amplitude information. Further, regarding the influence of the 1 st resonance frequency, the control portion 52 may also perform the determination as to whether or not the position of the car 21 detected by the 1 st car position detecting portion 34 fluctuates due to the influence of the 1 st resonance frequency of the main rope 22, based on whether or not the amplitude value corresponding to the 1 st resonance frequency is larger than a set threshold. The main component here is the maximum amplitude value among the amplitude values obtained for each frequency.

When determining that the position of the car 21 detected by the 1 st car position detecting portion 34 is not varied by the influence of the 1 st resonance frequency of the main rope 22, the control portion 52 controls the characteristic changing device 35 in the same manner as in embodiment 1 or embodiment 2.

On the other hand, when determining that the position of the car 21 detected by the 1 st car position detecting portion 34 has changed due to the influence of the 1 st resonance frequency of the main rope 22, the control portion 52 controls the characteristic changing device 35 using a frequency component other than the 1 st resonance frequency component based on the frequency analysis result of the frequency analyzing portion 531.

When using frequency components other than the 1 st resonance frequency component, the control unit 52 can use amplitude values of frequencies indicated by frequency amplitude information other than the 1 st resonance frequency. In this case, the frequencies other than the 1 st resonance frequency may be all frequencies other than the 1 st resonance frequency, or may be one or more selected frequencies, for example. Further, as the one or more selected frequencies, for example, all frequencies selected as having an amplitude value larger than a set threshold value may be used, and only a frequency selected as having a maximum amplitude value may be used.

For example, when only the frequency having the maximum amplitude value is selected, the amplitude value may be treated as the pulse amount of the position of the car 21, and the torque τ may be determined using a value proportional to the pulse amount or a value obtained by applying a filter to the pulse amount. Alternatively, the torque τ may be determined by obtaining a speed fluctuation amount and using a value proportional to the speed fluctuation amount or a value obtained by applying filtering to the speed fluctuation amount. Further, the torque τ may be determined by obtaining a fluctuation amount of the acceleration and using a value proportional to the fluctuation amount of the acceleration or a value obtained by applying a filter to the fluctuation amount of the acceleration. The torque τ may be determined as a sum of 2 or more of the torques obtained by using the position pulsation amount, the speed pulsation amount, and the acceleration pulsation amount.

When the amplitude values of the plurality of frequencies are used for the control, for example, the sum of the amplitude values may be regarded as an error amount of the position of the car 21, and the torque τ may be determined using a value proportional to the error amount. Alternatively, the pulsation amount of at least one of the position, the speed, and the acceleration may be obtained for each frequency, the torque to be further applied may be calculated from the obtained pulsation amount, and the torque τ may be determined using the sum of the calculated torques.

The control unit 52 applies the torque τ determined by the method described above to the characteristic changing device 35 in a situation where the position of the car 21 fluctuates due to the influence of the 1 st resonance frequency of the main rope 22. As a result, hunting due to frequency components other than the 1 st resonance frequency component present in the hunting of the governor rope 32 can be suppressed. Therefore, the 1 st car position detecting unit 34 can suppress a decrease in the position detection accuracy of the car 21.

In addition, instead of applying torque, by changing the moment of inertia of the rotating body, it is also possible to suppress hunting due to frequency components other than the 1 st resonance frequency component present in the hunting of the governor rope 32.

When using frequency components other than the 1 st resonance frequency component, the control unit 52 can use, for example, a value obtained by removing the 1 st resonance frequency component from the position p 1. To remove the 1 st resonance frequency component from the position p1, for example, a filter can be used. More specifically, it is conceivable to use a digital filter that removes the frequency components that have been set according to the setting of the control section 52.

When a digital filter capable of generating a value obtained by removing the 1 st resonance frequency component from the position p1 is used, the generation unit 51 in embodiment 1 can be used. In addition, when a digital filter capable of generating a value obtained by removing the 1 st resonance frequency component from the position p2 is used in combination with a digital filter capable of generating a value obtained by removing the 1 st resonance frequency component from the position p1, the generation unit 51 in embodiment 2 can be used.

In embodiment 3, when determining that the position of the car 21 detected by the 1 st car position detecting portion 34 has varied due to the influence of the 1 st resonance frequency of the main ropes 22, the control portion 52 controls the characteristic changing device 35 using a frequency component other than the 1 st resonance frequency. When such a determination is made, the control unit 52 may not perform the control of the characteristic changing device 35. The reason for this is that the 1 st resonance frequency component is dominant, and if the 1 st resonance frequency component is dominant, improvement of the position detection accuracy is hardly expected even if other frequency components are suppressed. Therefore, even when the control unit 52 determines that the position of the car 21 detected by the 1 st car position detecting unit 34 is varied due to the influence of the 1 st resonance frequency of the main rope 22, it is possible to determine whether or not the 1 st resonance frequency component is dominant, and determine whether or not to control the characteristic changing device 35.

Next, control in a case where the 1 st resonance frequency, which is the resonance frequency of the main rope 22, coincides with the 2 nd resonance frequency, which is the resonance frequency of the governor rope 32, will be described. The resonance frequency calculation section 532 shown in fig. 10 calculates the 1 st resonance frequency and also calculates the 2 nd resonance frequency.

In order to calculate the 2 nd resonance frequency, the characteristic control device 5 stores various physical information of the governor system 3 in advance, for example. The various pieces of physical information here include the number of governor ropes 32, the linear density, the young's modulus, the moment of inertia of the governor device 31, the mass of the governor sheave 33, the moment of inertia of the governor sheave 33, and the like. Instead of calculating the 2 nd resonance frequency, a table of the 2 nd resonance frequency may be prepared in advance for each position of the car 21 assuming a plurality of positions of the car 21. In this case, the 2 nd resonance frequency may be obtained using a prepared table. That is, the method of determining the 2 nd resonance frequency is not particularly limited.

The control unit 52 inputs resonance frequency information indicating the 1 st resonance frequency and the 2 nd resonance frequency from the resonance frequency calculation unit 532. Then, the control unit 52 determines whether or not the 1 st resonance frequency and the 2 nd resonance frequency coincide with each other. When determining that the 1 st resonance frequency matches the 2 nd resonance frequency, the control unit 52 controls the characteristic changing device 35 so as to change the 2 nd resonance frequency. The characteristic changing device 35 performs control to increase the inertia moment coefficient J in equation (1), for example. In this case, the characteristic changing device 35 to be controlled is, for example, a flywheel.

The change of the moment of inertia coefficient J can be realized by applying a torque proportional to the acceleration of the car 21, for example. When a torque is applied in a direction that suppresses the pulsation amount of the position of the car 21, the moment of inertia coefficient J can be apparently increased as compared to before the torque is applied. In contrast, in the case where the torque is applied in the direction of increasing the pulsation amount of the position of the car 21, the moment of inertia coefficient J can be apparently reduced as compared with before the torque is applied.

The control unit 52 changes the 2 nd resonance frequency and controls the characteristic changing device 35 so that the 2 nd resonance frequency is different from the 1 st resonance frequency, and can suppress the hunting of the governor rope 32 accompanying the hunting of the main rope 22 as compared with before the 2 nd resonance frequency is changed. As a result, the position detection error of the 1 st car position detecting portion 34 with respect to the car 21 can be suppressed. Therefore, by controlling the 2 nd resonance frequency to be different from the 1 st resonance frequency, more appropriate control of the characteristic changing device 35 can be realized.

Fig. 11 is a flowchart showing the overall flow of processing executed by the control unit in embodiment 3 of the present invention. Here, the operation of the control unit 52 in embodiment 3 will be described in more detail with reference to fig. 11.

The elevator control device 4 outputs each position information indicating the position of the car 21 detected by the 1 st car position detecting portion 34 and the 2 nd car position detecting portion 201 to the characteristic control device 5 as needed. The frequency analysis unit 531 performs frequency analysis based on the position information to generate frequency amplitude information. The resonance frequency calculation unit 532 calculates the 1 st resonance frequency and the 2 nd resonance frequency from the positional information, and outputs the calculation result as resonance frequency information. After the above-described preprocessing, the control of the flowchart shown in fig. 11 is started.

First, in step S11, the control unit 52 inputs new frequency amplitude information indicating the frequency analysis result and new 2 pieces of resonance frequency information. Then, the control unit 52 determines whether or not the main rope 22 oscillates at the 1 st resonance frequency based on the comparison between the frequency amplitude information and the resonance frequency information. As described above, this determination is made based on, for example, whether or not the frequency of the main component indicated by the frequency amplitude information matches the 1 st resonance frequency.

If the frequency of the main component matches the 1 st resonance frequency, the determination of step S11 is yes, and the process proceeds to step S13. That is, when the frequency of the main component and the 1 st resonance frequency are matched within the allowable range, the control unit 52 can determine that the frequencies are matched. If the two do not match within the allowable range, the determination at step S11 is no, and the process proceeds to step S12.

When the process proceeds to step S12, the control unit 52 controls the characteristic changing device 35 as necessary by using all the frequency components by the same method as in embodiment 2 or embodiment 1. Then, the process returns to step S11.

When the process proceeds to step S13, the control unit 52 determines whether or not the 1 st resonance frequency matches the 2 nd resonance frequency. If the 2 resonance frequencies match within the allowable range, the determination of step S13 is yes, and the process proceeds to step S14. If the 2 resonance frequencies do not match within the allowable range, the determination at step S13 is no, and the process proceeds to step S15.

When the process proceeds to step S14, the control unit 52 controls the characteristic changing device 35 to change, for example, the inertia moment coefficient J in equation (1) so that the 2 nd resonance frequency, which is the resonance frequency of the governor system 3, does not coincide with the 1 st resonance frequency. Then, the process returns to step S11.

When the process proceeds to step S15, the control unit 52 controls the characteristic changing device 35 for frequencies other than the 1 st resonance frequency. Specifically, the control unit 52 obtains at least one of a position pulsation amount, a speed pulsation amount, and an acceleration pulsation amount from the detection value of the 1 st car position detection unit 34 after the 1 st resonance frequency component is removed by the digital filter, and controls the characteristic changing device 35. After such control is performed, the process returns to step S11.

As described above, the characteristic control device 5 of the speed governor system 3 according to embodiment 3 has the following functions in addition to the functions of the foregoing embodiments 1 and 2.

By performing frequency analysis and calculation of the resonance frequency, a frequency component that becomes a detection error factor of the car position detection unit 34 attached to the governor system 3 is specified.

After excluding the frequency component that becomes the detection error factor, the characteristic changing device 35 provided to change the characteristic of the speed governor system 3 is controlled to change the characteristic.

As a result, the characteristic control device 5 of the governor system 3 capable of suppressing hunting of the governor rope 32 due to the resonance frequency of the main rope system 2 can be realized. Therefore, the elevator apparatus 1 according to embodiment 3 can be realized.

Embodiment 4

In embodiment 4, a control method for suppressing a position detection error based on the tension of the governor rope 32 will be described. Specifically, in embodiment 4, the tension of the governor rope 32 is detected as a detected value of a physical quantity related to the governor rope 32, or the position of the car 21 is detected as a detected value of a physical quantity related to the governor rope 32, and then the tension of the governor rope 32 is estimated, thereby suppressing a position detection error.

Fig. 12 is a diagram showing a configuration example of an elevator apparatus according to embodiment 4 of the present invention. In the governor system 3, the governor rope 32 is tensioned between the governor device 31 and the governor tensioning sheave 33. The governor rope 32 is divided into a car side connected to the car 21 and an opposite side to the car side, with a governor device 31 as a rotating body and a governor sheave 33 as a boundary. The car side of the governor rope 32 is roughly divided into a portion between the governor device 31 and the upper portion of the car 21 and a portion between the lower portion of the car 21 and the governor sheave 33. Hereinafter, the "opposite side" of the governor rope 32 will be referred to as the "opposite car side".

In embodiment 4, as shown in fig. 12, a tension detecting portion 301a is disposed on the car side of the governor rope 32, and a tension detecting portion 301b is disposed on the opposite side of the governor rope 32 from the car. The tension detecting portion 301a and the tension detecting portion 301b are sensors for detecting the tension of the governor rope 32.

The tension difference between the car side and the opposite car side causes rotational positional deviation between the governor device 31 as the rotational body and the governor tensioning sheave 33. Therefore, if the tension difference increases beyond the allowable range, the 1 st car position detecting unit 34 adversely affects the position detection accuracy of the car 21. When the rotating body to which the 1 st car position detecting portion 34 is attached has a rotational position deviation, an error is also generated in the detection result of the 1 st car position detecting portion 34.

Thus, when the absolute value of the tension difference between the car side and the opposite car side is larger than the set threshold, the control unit 52 in embodiment 4 controls the characteristic changing device 35 so that the absolute value of the tension difference is equal to or smaller than the set threshold. For example, the control unit 52 applies a torque in a direction to reduce the tension difference to the characteristic changing device 35. As a result of such control, the variation in the tension difference is suppressed within the allowable range not greater than the set threshold, and the occurrence of the rotational position deviation in the rotating body to which the 1 st car position detecting portion 34 is attached can be suppressed. Therefore, the positional movement of the car 21 is accurately transmitted from the car side to the opposite car side. Therefore, the 1 st car position detecting unit 34 can suppress a decrease in the accuracy of detecting the position of the car 21.

As the set threshold value, a value corresponding to the operation state of the elevator apparatus 1 can be used. In an operation in which the car 21 is raised and lowered at a fixed speed, a value corresponding to a running loss within an allowable range can be used as the set threshold value. In the fixed acceleration operation, a value corresponding to a torque that is a division value obtained by dividing a product of the inertia moment of the rotating body to which the 1 st car position detecting portion 34 is attached and the acceleration thereof by the radius of rotation of the rotating body can be used as the set threshold value. When the hoisting machine 24 is stopped by the brake, 0 can be used as the set threshold value.

Fig. 13 is a diagram showing a functional configuration example of a characteristic control device used in an elevator apparatus according to embodiment 4 of the present invention. Next, the characteristic control device 5 of embodiment 4 will be described in more detail with reference to fig. 13.

As shown in fig. 13, the characteristic control device 5 according to embodiment 4 includes a generation unit 51 and a control unit 52. The generation unit 51 includes a tension difference calculation unit 541.

In embodiment 4, as shown in fig. 13, the tension detecting unit 301a and the tension detecting unit 301b are directly connected to the characteristic control device 5. Both the tension detecting unit 301a and the tension detecting unit 301b output digital tension detection information indicating the detected tension to the characteristic control device 5. The tension detection information is input to the tension difference calculation unit 541 in the generation unit 51. The tension difference calculation unit 541 calculates a tension difference between the car side and the opposite car side of the governor rope 32 based on the tension detection information, and outputs the calculated tension difference to the control unit 52 as tension difference information. The tension difference is, for example, a value obtained by subtracting the tension on the opposite side of the car from the tension on the car side.

The control section 52 determines whether the absolute value of the difference in tension is larger than a set threshold value. As a result, when determining that the absolute value of the tension difference is larger than the set threshold, the control unit 52 determines the control amount for controlling the characteristic changing device 35 based on the magnitude of the absolute value of the tension difference and the positive or negative of the tension difference. The control amount includes the torque to be applied and the direction in which the torque is applied. As a result of controlling the characteristic changing device 35 according to the control amount, at least one of the 3 coefficients existing on the right side of the equation (1) is changed so that the tension difference is reduced.

The control amount may be different depending on the operating state of the elevator apparatus 1. For example, as described above, the operation state may be classified into an operation in which the car 21 is raised and lowered at a fixed speed, an operation at a fixed acceleration, and a stop. In this case, the control unit 52 can determine the control amount according to the operating state. When there are a plurality of fixed speeds, the control unit 52 can determine the control amount for each speed based on the speed command output from the elevator control device 4 to the hoisting machine 24.

In the configuration shown in fig. 13, the tension detecting portion 301a is disposed on the car side, and the tension detecting portion 301b is disposed on the opposite side of the car, and the tension is detected. However, a configuration of estimating the tension may be adopted without using the tension detecting unit 301a and the tension detecting unit 301 b.

Specifically, the tensions on the car side and the opposite car side can be estimated using a disturbance observer that estimates a disturbance torque to the rotating body to which the characteristic changing device 35 is attached. As a result, as shown in fig. 14, the disturbance observer may be mounted on the characteristic control device 5 as the tension difference estimating unit 551. The tension difference estimating unit 551 is also a part of the generating unit 51.

The tension difference estimating unit 551 receives various information related to the control of the characteristic changing device 35, for example, the content of a command and feedback information used for the control, from the control unit 52. The tension difference estimating unit 551 generates position information and speed information based on the position of the car 21 detected by the 1 st car position detecting unit 34. Then, the tension difference estimating section 551 estimates the tension on the car side and the tension on the opposite car side, respectively, using these pieces of information, and further estimates the tension difference. The tension difference information indicating the estimated tension difference is output to the control unit 52.

For example, when the car is traveling at a fixed speed, the control unit 52 performs control so that the tension disturbances on the car side and the opposite car side are equal. At this time, the control unit 52 controls the tension disturbances caused by the positional fluctuations of the car 21 to be opposite directions with the same magnitude across the sheave. As a result, the positional variation of the car 21 is accurately transmitted from the car side to the opposite car side. Therefore, the 1 st car position detecting unit 34 can suppress a decrease in the accuracy of detecting the position of the car 21.

The functional configuration examples shown in fig. 13 and 14 can be added to any of embodiments 1 to 3. In this case, the control unit 52 in embodiments 1 to 3 can determine the control amount so that the tension difference between the car side and the opposite car side is equal to or less than a set threshold value, and control the characteristic changing device 35. By controlling the characteristic changing device 35 in accordance with the tension difference in this manner, the position detection accuracy of the 1 st car position detecting unit 34 with respect to the car 21 can be maintained even higher.

As described above, the characteristic control device 5 of the governor system 3 according to embodiment 4 has the following functions.

The tension difference of the governor rope 32 is determined from the detection result of the actual tension detection or the estimation result of the tension.

The characteristic changing device 35 provided to change the characteristic of the speed governor system 3 is controlled to change the characteristic so that the tension difference is within the allowable range.

As a result, the car position detection error due to the tension difference can be suppressed. The elevator apparatus 1 according to embodiment 4 can also be realized by the characteristic control device 5 of the governor system 3.

Each function of the characteristic control device 5 used in the elevator devices 1 according to embodiments 1 to 4 described above is realized by a processing circuit. The processing circuit for realizing each function may be dedicated hardware or a processor for executing a program stored in a memory. Fig. 15 is a configuration diagram showing a case where each function of the characteristic control device used in the elevator devices according to embodiments 1 to 4 of the present invention is realized by a processing circuit as dedicated hardware. Fig. 16 is a configuration diagram showing a case where each function of the characteristic control device used in the elevator devices according to embodiments 1 to 4 of the present invention is realized by a processing circuit having a processor and a memory.

In the case where the processing Circuit 1000 is dedicated hardware, examples of the processing Circuit 1000 include a single Circuit, a complex Circuit, a programmed processor, a parallel programmed processor, an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), and a combination thereof. The respective functions of the generation unit 51, the control unit 52, the frequency analysis unit 531, the resonance frequency calculation unit 532, the tension difference calculation unit 541, and the tension difference estimation unit 551 may be realized by the individual processing circuits 1000, or the functions of the respective units may be realized by the processing circuits 1000 in a lump.

On the other hand, when the processing circuit 2000 includes a processor 2001 and a memory 2002, the functions of the generation unit 51, the control unit 52, the frequency analysis unit 531, the resonance frequency calculation unit 532, the tension difference calculation unit 541, and the tension difference estimation unit 551 are realized by application software, a combination of an OS (Operating System) and firmware, or a combination of application software and firmware. Application software, OS, and firmware can be stored to the memory 2002. The processor 2001 reads and executes various programs stored in the memory 2002, thereby realizing functions of each unit. That is, the characteristic control device 5 includes a memory 2002, and the memory 2002 can store various programs for realizing each section when the memory 2002 is executed by the processing circuit 2000.

The various programs can also be said to be programs that cause a computer to implement the above-described components. Examples of the Memory 2002 include nonvolatile or volatile semiconductor memories such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash Memory, an EPROM (Erasable Programmable Read Only Memory), and an EEPROM (Electrically Erasable Programmable Read Only Memory). Further, a magnetic disk, floppy disk, optical disk, compact disk, mini disk, or DVD, etc. may also conform to memory 2002.

Further, the functions of the above-described units may be partially implemented by dedicated hardware, partially implemented by application software, firmware, or the like.

Thus, the processing circuit may implement the functions of the above-described components by hardware, application software, firmware, or a combination thereof.

Description of the reference symbols

1: an elevator device; 2: a main rope system; 3: a speed limiter; 4: an elevator control device; 5: a characteristic control device; 21: a car; 22: a main rope; 24: a traction machine; 31: a governor device (rotating body); 32: a governor rope; 33: a governor tensioner (rotor); 34: 1 st cage position detecting part; 35: a characteristic changing device; 51: a generation unit; 52: a control unit; 201: a 2 nd cage position detecting part; 301a, 301 b: a tension detection unit; 531: a frequency analysis unit; 532: a resonance frequency calculation unit; 541: a tension difference calculation unit; 551: a tension difference estimating unit.

Claims (18)

1. A characteristic control device for a speed governor system, comprising:

a generation unit that generates state information indicating a state of a governor system on the basis of a detected value of a physical quantity related to a governor rope connected to a car, the governor system including a governor device, a characteristic changing device, a 1 st car position detection unit that detects a position of the car on the basis of the physical quantity related to the governor rope, and a governor rope connected to the car; and

and a control unit that controls the characteristic changing device that changes a characteristic of the speed governor system based on the state information generated by the generation unit, and changes the characteristic so that a detection error of the 1 st car position detection unit is reduced.

2. The characteristic control device of the governor system of claim 1, wherein,

the control unit controls the characteristic changing device to change the characteristic by applying a torque to the speed governor system or changing at least one of a rotational inertia coefficient, a damping coefficient, and a stiffness coefficient of one or more rotating bodies constituting the speed governor system.

3. The characteristic control device of the governor system of claim 2, wherein,

The control unit controls the characteristic changing device to reduce the state information generated by the generating unit by changing at least one of the inertia moment coefficient, the damping coefficient, and the stiffness coefficient of the governor system.

4. The characteristic control device of the speed governor system according to claim 2, wherein,

when the equation of motion of the rotating system of the governor system is defined as follows,

τ＝J·a+D·v+K·p

wherein, τ: due to the torque exerted on the governor system by external factors,

p: the position of the car is determined by the position of the car,

v: the speed of the car is set to a value,

a: the acceleration of the car is controlled by the acceleration of the car,

j: the coefficient of the rotational inertia of the governor system,

d: the damping coefficient of the speed limiter system is,

k: the stiffness factor of the governor system is such that,

the control unit controls the characteristic changing device by changing at least one of the inertia moment coefficient J, the damping coefficient D, and the stiffness coefficient K so that the state information generated by the generating unit is reduced.

5. The characteristic control device of the governor system of claim 3, wherein,

when the equation of motion of the rotating system of the governor system is defined as follows,

τ＝J·a+D·v+K·p

Wherein, τ: due to the torque exerted on the governor system by external factors,

p: the position of the car is determined by the position of the car,

v: the speed of the car is set to be,

a: the acceleration of the car is controlled by the acceleration of the car,

j: the coefficient of moment of inertia of the governor system,

d: the damping coefficient of the speed limiter system is,

k: the stiffness factor of the governor system is such that,

the control unit controls the characteristic changing device by changing at least one of the inertia moment coefficient J, the damping coefficient D, and the stiffness coefficient K so that the state information generated by the generating unit is reduced.

6. The characteristic control device of the governor system of claim 2, wherein,

the control unit causes the characteristic changing device to control the characteristic so that the state information generated by the generation unit is reduced by applying a torque to the speed limiter system.

7. The characteristic control device of the governor system of claim 2, wherein,

when the equation of motion of the rotating system of the governor system is defined as follows,

τ+τc＝J·a+D·v+K·p

wherein, τ: due to the torque exerted on the governor system by external factors,

τ c: the torque applied by the characteristic changing device is,

p: the position of the car is determined by the position of the car,

v: the speed of the car is set to a value,

a: the acceleration of the car is controlled by the acceleration of the car,

j: the coefficient of the rotational inertia of the governor system,

d: the damping coefficient of the speed limiter system is,

k: the stiffness coefficient of the speed limiter system is,

the control unit may be configured to cause the characteristic changing device to control the characteristic so that the state information generated by the generating unit is reduced by equivalently changing at least one of the moment of inertia coefficient J, the damping coefficient D, and the stiffness coefficient K by applying a torque to the speed governor system.

8. The characteristic control device of the governor system of claim 3, wherein,

when the equation of motion of the rotating system of the governor system is defined as follows,

τ+τc＝J·a+D·v+K·p

wherein, τ: due to the torque exerted on the governor system by external factors,

τ c: the torque applied by the characteristic changing device is,

p: the position of the car is determined by the position of the car,

v: the speed of the car is set to a value,

a: the acceleration of the car is controlled by the acceleration of the car,

j: the coefficient of the rotational inertia of the governor system,

d: the damping coefficient of the speed limiter system is,

k: the stiffness factor of the governor system is such that,

the control unit may be configured to cause the characteristic changing device to control the characteristic so that the state information generated by the generating unit is reduced by equivalently changing at least one of the moment of inertia coefficient J, the damping coefficient D, and the stiffness coefficient K by applying a torque to the speed governor system.

9. The governor system characteristic control apparatus according to any one of claims 1 to 8, wherein,

the generation unit acquires, as the detection value, a position of the car detected by a 1 st car position detection unit provided in the governor system,

the generation unit generates at least one of position information indicating a position of the car, speed information indicating a speed of the car, and acceleration information indicating an acceleration of the car as the state information using the detection value,

the control unit obtains a pulsation amount of the state information, and controls the characteristic changing device to change the characteristic so as to reduce the pulsation amount.

10. The governor system characteristic control apparatus according to any one of claims 1 to 8, wherein,

the generating portion acquires, as the detection value, a 1 st position of the car detected by a 1 st car position detecting portion provided in the governor system and a 2 nd position of the car detected by a 2 nd car position detecting portion provided in a main rope system including a main rope coupled to the car,

The generating part generates 1 st position information indicating a 1 st position of the car, 1 st speed information indicating a 1 st speed of the car, 1 st acceleration information indicating a 1 st acceleration of the car, 2 nd position information indicating a 2 nd position of the car, 2 nd speed information indicating a 2 nd speed of the car, and 2 nd acceleration information indicating a 2 nd acceleration of the car, using the detection value,

the generating unit generates at least one of position difference information indicating a difference between the 1 st position information and the 2 nd position information, velocity difference information indicating a difference between the 1 st velocity information and the 2 nd velocity information, and acceleration difference information indicating a difference between the 1 st acceleration information and the 2 nd acceleration information as the state information,

the control unit controls the characteristic changing device to change the characteristic so that the state information generated by the generation unit is reduced.

11. The governor system characteristic control apparatus according to any one of claims 1 to 8, wherein,

the generation unit obtains, as the detected values, a car-side tension of the governor rope coupled to the car and a car-side tension of the governor rope opposite to the car side, respectively, by a tension detection unit that detects a tension of the governor rope tensioned between the governor device and a governor tensioning sheave, both ends of the governor rope being annularly coupled by coupling portions that are gripped by the car,

The generation unit generates a tension difference between the tension on the car side and the tension on the opposite side of the car as the state information using the detection value,

the control unit controls the characteristic changing device to change the characteristic such that an absolute value of the tension difference is equal to or less than a set threshold.

12. The characteristic control device of the speed governor system according to any one of claims 1 to 8, wherein,

the generation unit estimates a car-side tension of the governor rope coupled to the car and a car-side tension of the governor rope opposite to the car, and generates a tension difference between the estimated car-side tension and the car-side tension as the state information, wherein both ends of the governor rope are coupled in an annular shape by coupling portions held by the car,

the control unit controls the characteristic changing device to change the characteristic such that an absolute value of the tension difference is equal to or less than a set threshold.

13. The governor system characteristic control apparatus according to any one of claims 1 to 8, wherein,

The generation unit includes:

a frequency analyzing unit that performs frequency analysis of the position of the car detected by the 1 st car position detecting unit and calculates an amplitude value for each frequency; and

a resonance frequency calculating section that calculates a resonance frequency of a main rope coupled to the car based on one of a 1 st position of the car detected by the 1 st car position detecting section and a 2 nd position of the car detected by the 2 nd car position detecting section, the 2 nd car position detecting section being provided in a main rope system including the main rope,

the control unit controls the characteristic changing device to change the characteristic using the amplitude value of a frequency different from the resonance frequency as the state information when it is determined that the position of the car has swung due to the influence of the resonance frequency based on the amplitude value of each of the frequencies calculated by the frequency analyzing unit and the resonance frequency calculated by the resonance frequency calculating unit.

14. The governor system characteristic control apparatus according to any one of claims 1 to 8, wherein,

the generating section includes a resonance frequency calculating section that calculates a 1 st resonance frequency that is a resonance frequency of a main rope coupled to the car and a 2 nd resonance frequency that is a resonance frequency of the governor rope, based on the positions of the car detected by the 1 st car position detecting section and the 2 nd car position detecting section, respectively, the 2 nd car position detecting section being provided in a main rope system including the main rope,

When the 1 st resonance frequency and the 2 nd resonance frequency coincide with each other, the control unit controls the characteristic changing device to change the characteristic so as to change the 2 nd resonance frequency.

15. The governor system characteristic control apparatus according to any one of claims 1 to 8, wherein,

the characteristic modifying device includes a rotating electric machine that applies a 1 st load torque to the governor system,

the control unit controls the characteristic changing device to change the characteristic by applying the 1 st load torque to the speed governor system by the rotating electrical machine.

16. The governor system characteristic control apparatus according to any one of claims 1 to 8, wherein,

the characteristic changing device includes a flywheel having a variable inertia mechanism capable of changing a moment of inertia,

the control unit controls the flywheel so as to change the inertia moment, thereby controlling the characteristic changing device to change the characteristic.

17. The characteristic control device of the speed governor system according to any one of claims 1 to 8, wherein,

the characteristic changing device includes a braking device that applies a 2 nd load torque to the governor system,

The control unit controls the characteristic changing device to change the characteristic by applying the 2 nd load torque to the speed governor system by the braking device.

18. An elevator apparatus having the characteristic control device of the governor system according to any one of claims 1 to 17.

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