CN1155506A - Operation speed command controlling apparatus and method for elevator - Google Patents

Operation speed command controlling apparatus and method for elevator Download PDF

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Publication number
CN1155506A
CN1155506A CN96122745A CN96122745A CN1155506A CN 1155506 A CN1155506 A CN 1155506A CN 96122745 A CN96122745 A CN 96122745A CN 96122745 A CN96122745 A CN 96122745A CN 1155506 A CN1155506 A CN 1155506A
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Prior art keywords
car
operating speed
distribution graph
acceleration
call
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CN96122745A
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Chinese (zh)
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朴钟宪
金哲完
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LS Electric Co Ltd
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LG Industrial Systems Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
    • B66B1/2408—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration where the allocation of a call to an elevator car is of importance, i.e. by means of a supervisory or group controller
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
    • B66B1/3415—Control system configuration and the data transmission or communication within the control system
    • B66B1/3423—Control system configuration, i.e. lay-out
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
    • B66B1/3492—Position or motion detectors or driving means for the detector

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Elevator Control (AREA)

Abstract

An elevator operation speed command control device and a method thereof are provided, the control device includes a carriage calling button and a floor calling button, an operation order management unit for determining an operation speed figure for sending commands to the elevator carriage, and generating an operation speed figure, an operation speed command generator for determining a Jerk acceleration and a response time from a setting acceleration figure in an operation stage according to the operation speed figure generated by calling, obtaining a stage reference speed distribution figure, generating an operation command which is proportioned with a difference between a reference position distribution figure acquired by integrating the reference speed distribution figure and a current elevator carriage position value detected by a carriage position detector, a power amplifier for amplifying an operation speed command value.

Description

The operation speed command controlling apparatus of elevator and method
The present invention relates to the operation speed command controlling apparatus and the method for elevator, particularly relate to elevator speed CCE and development of method, it can detect and have or not the passenger in lift car, and detect elevator whether the emergency state takes place, produce suitable running velocity command signal thus, thereby reduce the wait time of passenger on floor, improve lift car and stop sensation, and time of run and time of run error minimum that response is called out.
Usually, on delivery passenger or the luggage/lift car of motion down, the lift car that moves along the car movable passageway is connected to a counterweight by hawser.The bonded assembly hawser is along with by propulsive effort that DC machine, induction motor or linear electric motors produced and be wound and unclamp like this.Can adopt the hydraulic machinery winding and unclamp hawser.
Fig. 1 is the schematic block diagram of existing operation speed command controlling apparatus.
As shown in Fig. 1 figure, lift car 105 is used to deliver passenger or luggage.With hawser 108 counterweight 107 is connected to lift car 105, is used for the weight of balance lift car 105, and reduce the consumption of current of system.The driver element 106 that comprises cylinder and motor (not shown) is utilized for system provides propulsive effort, is connected hawser 108 between lift car 105 and the counterweight 107 by on cylinder.The effect of a position detector 104 is the current locations with the motor (not shown) cooperative lift car 105 of driver element 106.Car call button dish 109 and floor call push button pad 110 are installed in the lift car 105 respectively and on the floor, the calling that is used for requiring according to the passenger produces car call signal or floor call sign.Operation order administrative unit 100 is used in many callings of passenger priority resolution and calls out, and checks the secrecy system of elevator when car call data or floor call data are sent to system by order wire 111 and 112 all sidedly.The effect of operating speed command generator 101 be in an acceleration phase with the position of the control loop Collaborative Control lift car of an opening, make lift car 105 can arrive the floor that produces priority call, detected car position value P (KT) in the decelerating phase passes through closed control loop controlled feedback position according to car position detector 104, and with utilizing an adder 101a to produce operating speed command voltage V (KT).The effect of electric power amplifier 102 is that electric power is amplified to predetermined level, thereby the operating speed command voltage V (KT) that produces with operating speed command generator 101 makes lift car 105 be activated the control of the motor of unit 106.
Following with reference to Fig. 2 and the habitual elevator operation speed command control method of 3 explanations.
At first, when waiting when the passenger on the floor or the passenger in lift car 105 call out lift car 105 or call out a floor by pressing floor call button 110 or car call button 109, just a floor call data and car call data in operation order administrative unit 100, have been registered by one of two order wires 111 and 112.
Step ST1 in Fig. 2, operation order administrative unit 100 checks that in by the calling of pressing the existing registration that floor call button 110 and car call button 109 produce which calling has preceence, and be that operating speed command generator 101 produces an operating speed command signal, so that at first execution priority is called out, and move a corresponding lift car according to the command signal of such generation.
In step ST2, check priority call in the calling that operating speed command generator 101 will be registered from operation order administrative unit 100, and check the operating speed command status that lift car 105 is current, also will detect lift car 105 current operating speed command status and whether relate to acceleration mode or deceleration regime.
According to the testing result among the step ST2, if lift car 105 current operational speed relate to acceleration mode or state at the uniform velocity, operating speed command generator 101 just receives about acceleration or control command signal at the uniform velocity in step ST3, and uses habitual acceleration diagram to obtain operating speed command value V (KT) according to the formula that will explain later on (1).According to the testing result among the step ST2, if current operational speed relates to the decelerating phase, operating speed command generator 101 just receives the control command about deceleration-operation, and obtains an operating speed command value according to the formula that will explain later on (2).The operating speed command value that obtains like this in step ST3 and ST4 is provided for electric power amplifier 102.
Specifically, from following formula (1) as seen, the position of operating speed command generator 101 control lift cars, so that produce operating speed instruction V (KT) according to stage schedule time of process, this time phase and lift car 105 current acceleration phase and at the uniform velocity in the stage position and the operating speed according to the control loop of opening have nothing to do.In addition, feedback position is controlled, thereby can produce operating speed instruction V (KT) according to remaining distance, this Distance Remaining is according to the distance of the detected lift car 105 current location value P (KT) of closed control loop to the position that the time of run error occurs, so that reduce the time of run error in decelerating phase by car position detector 104.
Figure A9612274500061
α wherein 1The expression maximum acceleration value, K represents to quicken and stage at the uniform velocity, and its value for K ∈ 1,2,3,4}.
α wherein 2The expression maximum deceleration value, K represents the decelerating phase, and its value is that { 5,6,7}, T represent a control cycle to K ∈, " dest " expression run duration error position, and the current location of P (KT) expression lift car 105.
Specifically, as shown in Figure 3, operating speed command value V (KT) determines according to time base operating speed figure, this velocity diagram increases along with elapsed time, comprising acceleration phase K1 according to habitual acceleration diagram, the acceleration phase of even acceleration phase K2 and acceleration phase K3 and at the uniform velocity haveing nothing to do with operating speed command value V (KT) within the stage K4.Operating speed command value V (KT) is sent as the operating speed command value.In addition, operating speed command value V (KT) determines according to Distance Remaining and time of run error position that the current location from lift car 105 begins, so that comprising decelerating phase K5, at the uniform velocity reduce the time of run error in the decelerating phase of stage k6 and decelerating phase K7.
In addition, as seen, the time during the acceleration phase K1 (period T 1) is fixed on a predetermined value from formula (1) and (2), and irrelevant with car call and floor call, such operating speed command value V (KT) is provided for electric power amplifier 102.
In other words, the electric signal that is produced by operating speed command generator 101 in each cycle (T1 to T7) is very weak.Therefore, since this signal can not direct drive driver element 106 motor (not shown) or hydraulic efficiency gear (not shown), will be amplified to a predetermined level to the operating speed command value V (KT) that operating speed command generator 101 produces by electric power amplifier 102, and the value of amplifying be offered the motor or the hydraulic efficiency gear of driver element 106.
In the step ST5 of Fig. 2, the motor of driver element 106 or hydraulic efficiency gear are driven according to the operating speed command value from electric power amplifier 102.Like this, lift car 105 moves to predetermined destination with regard to cooperating hawser 108.When the elevator car arrives destination, just finish the operation of elevator.
Yet, as mentioned above, as illustrated in fig. 1 and 2, according to the operating speed instruction that produces in habitual elevator operation speed command control setup and the method, position control is to carry out according to open control loop, the instruction of wherein operating speed produces according to elapsed time in predefined phase, with acceleration phase K1 to K3 with at the uniform velocity lift car current location and the operating speed in the stage K4 is irrelevant.In addition, feedback position control is carried out according to closed loop control, the instruction of wherein operating speed is to determine to the Distance Remaining of time of run error according to beginning from the lift car current location, so that reduce the run duration error at K5 in the decelerating phase of K7.
Therefore, if from acceleration phase K1 to K3 or at the uniform velocity stage K4 to the stage of decelerating phase K5 to K7 variation has taken place, the operating system of elevator will change.Because the speed of electric power amplifier and torque are at acceleration phase K1 to K3 or at the uniform velocity differ from one another among the stage K4 with among the decelerating phase K5 to K7, vibration will appear.In addition, high operating speed is poor occurring each other, thereby causes taking of lift car to feel under the weather.In addition, very big and do not have the error except the motor output that drives lift car when the idle condition, when lift car 105 from acceleration phase with at the uniform velocity stage to the decelerating phase changes its running state during the stage, because can not satisfying, the operating system of lift car 105 quickens and the time base velocity diagram in the stage at the uniform velocity, in order to compensate the positional error of accumulative total, must carry out deceleration-operation, or must postpone time of run significantly based on calling, that does not consider lift car in this course takes sensation and time of run error.
Moreover, in the operating speed command generator,, and no matter have or not the passenger in the lift car, so just can make taking of lift car feel to make moderate progress because control cycle (time T 1) in acceleration phase K1 is fixed on the fixed value.When in lift car, not having the passenger or the emergency state occurring, can produce high-revolving velocity diagram, thereby can carry out passenger's car services request apace; Yet, because the time durations of acceleration phase is limited, will produce the operating speed instruction of low efficiency, the operating efficiency of lift car is descended.
Therefore, purpose of the present invention provides a kind of operating speed CCE for elevator exactly, and it has overcome the problem that exists in the habitual operating speed CCE.
Another object of the present invention is to provide a kind of improved operating order control setup and method for elevator, thereby can shorten the wait time of passenger on floor, improve the sensation of taking of lift car, and make based on the time of run and the time of run error minimum of calling out, in lift car, have or not passenger and elevator the emergency state whether to occur by detection therein and produce a suitable operating speed command signal.
To achieve these goals, the present invention provides a kind of operating speed CCE for elevator, it comprises car call button and the floor call button that is used to produce car call signal or floor call sign, an operation order administrative unit, be used for determining to send the operating speed figure of instruction to lift car, in the middle of calling, determine a priority call by car call button and the registration of floor call button, and produce an operating speed figure, an operating speed command generator, be used for according to according to the calling of operation order administrative unit registration with from the car call of floor or the operating speed figure that generates from the priority call of the floor call of car, from the acceleration diagram of an operational phase setting, determine a Jerk acceleration/accel and a response time, obtain the reference velocity distribution graph in a stage, and produce the proportional operating order of difference with the detected current elevator car position value of the reference position distribution graph of integration acquisition by the reference velocity distribution graph and car position detector, an electric power amplifier, be used for the amplifieroperation speed value, so that operate the electric machine in the driver element that comprises cylinder and motor, make lift car according to the work of reference velocity distribution graph.
To achieve these goals, the present invention provides a kind of operating speed command control method for elevator, it may further comprise the steps, when the priority call in the calling of registering in according to the operation order administrative unit produces an operating order, determine that from the acceleration diagram of setting acceleration/accel and response time drive lift car, use acceleration/accel and the response time determined to calculate the reference velocity distribution graph of an operational phase, to reference velocity distribution graph integration and calculate the reference position distribution graph of lift car, and calculate the operating speed command value that is used to operate lift car according to the current location and the reference position distribution graph of lift car.
Can be more clearly visible other advantages, purpose and feature of the present invention from the following description.
Can understand the present invention more fully by detailed description, but this description only to be in order illustrating, rather than will to limit the present invention below in conjunction with accompanying drawing, in the accompanying drawings:
Fig. 1 is the scheme drawing of the customary operation speed command control setup of elevator;
Fig. 2 is the diagram of circuit of the operating speed command control program in the above-mentioned habitual operating speed CCE;
Fig. 3 is a habitual acceleration diagram curve that uses when producing the operating speed command signal in habitual operating speed CCE;
Fig. 4 is the structural representation according to elevator operation speed command control setup of the present invention;
Fig. 5 is the diagram of circuit according to the elevator operation speed command control method of first embodiment of the invention, considered therein lift car take the sensation and the time of run error;
Fig. 6 is according to the diagram of circuit of the elevator operation speed command control method of second embodiment of the invention, has considered the factor whether passenger is arranged therein;
Fig. 7 is the curve of operating speed and location map, considered therein lift car take the sensation and the time of run error; And
The curve of Fig. 8 A and 8B is the velocity profile about elevator that obtains under normal speed, therein:
Fig. 8 A is the curve of elevator position distribution graph;
Fig. 8 B is the curve of elevator acceleration profile;
Fig. 4 is the scheme drawing of the elevator operation speed command control setup of the present invention that adopts in elevator device, and it comprises and is respectively applied for car call button 109 and the floor call button 110 that produces car call signal and floor call sign.An operation order administrative unit 200 is set, is used for according to determining to send the operating speed figure of instruction to lift car with a calling of car call button 109 and 110 registrations of floor call button.In the middle of current a plurality of callings, determine a priority call.Connect an operating speed command generator 210, be used for positional value calculating operation speed value according to the reference position distribution graph of the lift car 105 that the reference velocity distribution graph integration of an operational phase is obtained and current car position detector 104 detected lift cars 105.During in generation priority call from the calling of current registration with according to car call that produces from floor or the floor call of from car, producing generation operating speed figure, calculate Jerk acceleration/accel J and response time K according to the acceleration diagram of setting 1T, and obtain the reference velocity distribution graph of an operational phase according to such result calculated.Be connected with an electric power amplifier 202, be used to amplify the operating speed instruction of this operational phase that produces by operating speed command generator 201, and be used for operating the motor of the driver element 106 that comprises cylinder and motor, thereby make lift car 105 according to the work of reference velocity distribution graph.
In operating speed command generator 201, connect an adder 201a, be used for positional value P (KT) addition of the current lift car of importing from the reference position figure P (KT) and the position detector 104 of 200 inputs of operation order administrative unit according to control command 105.Connected a proportional regulator 201b, be used to produce an operating speed command value, comprising the positional error of adder 201a acquisition.
Following principle of work with reference to Fig. 5 and 6 explanations elevator operation speed command control setup of the present invention.
Fig. 5 is the diagram of circuit according to the elevator operation speed command control method of first embodiment of the invention, considered therein lift car take the sensation and the time of run error.
In step ST10, when the passenger in passenger on the floor or the lift car 105 called out a floor or lift car 105 by pressing floor call button 110 or car call button 109, floor call data and car call data will be registered in the operation order administrative unit 200 by two order wires 111 and 112.
At step ST11, in operation order administrative unit 200, from calling out from priority resolution the calling of car call button 109 and floor call button 110 of current registration, and the highest priority calling in the priority call of so determining sends to operating speed command generator 201.
At step ST12, in operating speed command generator 201, according to instructing to determine Jerk acceleration/accel J and response time K from the operating speed of operation order administrative unit 200 inputs 1T has considered the sensation of taking of car therein.
At step ST13, according to the Jerk acceleration/accel J and the response time K that determine by operating speed command generator 201 1T operates lift car 105.
At step ST14, after lift car 105 begins operation, in operating speed command generator 201, calculate the reference velocity distribution graph V of each operational phase according to each acceleration/accel stage 1(KT) to V 7(KT), each acceleration/accel stage comprises the acceleration phase K1 that meets following formula (3), even acceleration phase K2, and acceleration phase K3, and comprise at the uniform velocity stage K4, the decelerating phase of decelerating phase K5 and even decelerating phase K6 and decelerating phase K7.
V 1(KT)＝J/2(KT) 2
V 2(KT)＝J(K 1T)(KT)+V 1(K 1T)
V 3(KT)＝-J/2(KT) 2+J(K 1T)(KT)+V 2(K 2T)
V 4(KT)＝J(K 1T) 2+J(K 1T)(K 2T)
V 5(KT)＝-J/2(KT) 2+V 4(0)
V 6(KT)＝J(K 1T)(KT)+J/2(K 1T) 2+J(K 1T)(K 2T)
V 7(KT)＝J/2(KT) 2-J(K 1T)(KT)+J/2(K 1T) 2------(3)
Wherein J represents the Jerk acceleration/accel, and T represents control cycle time (10ms), K 1T represents response time, and V 4(0) is illustrated in normal speed among the stage K4 at the uniform velocity.
At step ST15, obtain to be used for the reference velocity distribution graph V of stage K1 to K3 according to formula (3) 1(KT) to V 7And the numerical integration that will so obtain (KT).Thereby obtain the reference position distribution graph P (KT) of lift car 105 by following formula (4). P ^ ( KT ) = ∫ V i * dt , I=1 wherein, 2,3 ..., 7------(4)
At step ST16, when having obtained the reference position distribution graph P (KT) of lift car 105 according to formula (4), detect the current location P (KT) of current lift car 105 with car position detector 104, and with adder 201a with itself and reference position distribution graph P (KT) addition, thereby calculate positional error.Calculate and the proportional operating speed instruction of positional error P (KT) according to formula (5) with this csr controller 201b, and the operating speed that calculates thus instruction is sent to electric power amplifier 202.
The operating speed instruction is to calculate like this: V ( KT ) = K P * ( P ^ ( KT ) - P ( KT ) ) - - - ( 5 )
K wherein PIt is proportional gain.
The operating speed instruction V (KT) that sends to the proportional gain unit 201b of operating speed command generator 201 is amplified by electric power amplifier 202, and be used for driving the driver element 106 and the hydraulic efficiency gear (not shown) that comprise cylinder and motor, and make lift car 105 move to the destination.
At step ST17, operation order administrative unit 100 detects according to step ST100 whether arrived a floor to the lift car 105 that ST106 drives.If lift car 105 does not arrive a floor, with regard to the step after the repeated execution of steps ST103.If lift car 105 has arrived destination floor, just finish the operation of elevator.
For example, the speed of supposing lift car is 120m/min, and Jerk acceleration/accel J is 0.5m/sec 3, and response time K 1T is one second, and when producing the operating speed instruction according to the feedback position control method, as shown in Figure 6, lift car 105 can provide takes sensation preferably, and operating speed " f " and corresponding reference velocity of position distribution " e " " b " and position distribution " a ".
Fig. 7 is the curve of operating speed and position distribution, considered therein lift car take the sensation and the time of run error.
In Fig. 7, c represents the Jerk acceleration/accel of reference, and d represents the operating speed instruction from the electric power amplifier.
Fig. 6 is according to the diagram of circuit of the elevator operation speed command control method of second embodiment of the invention, has considered the factor whether passenger is arranged therein.
As shown in Figure 6, under the emergency state, might come moving elevator car quickly by the time T 1 that prolongation is used for Jerk acceleration/accel stage K1, so that make the passenger flee from lift car.If there is a passenger to want to take lift car, can also shorten the wait time of passenger on floor.
To illustrate that below basis is from the car call of floor and the method for instructing from the floor call generation operating speed of car in lift car automatic mode and fire fighting pattern.
In the step ST100 of Fig. 7, lift car 105 is in automatic mode.In step ST101, judge whether a floor call from car by operation order administrative unit 200.According to the result, if produced a floor call from car, just judging in step ST102 has a passenger taking lift car 105, and determines to be ready for sending the operating speed figure to lift car 105.
Specifically, if a floor call from car is arranged, consider that in Fig. 3 the interval T 1 during the acceleration phase K1 that takes sensation just is determined in step ST103, and send to operating speed command generator 201.In operating speed command generator 201, operating speed figure according to operation order administrative unit 200, the operating speed instruction V (KP) that obtains according to the set time T1 during formula 3,4 and 5 collaborative acceleration phase K1 carries out from the car call of floor with from the floor call of car.
In step ST101 and ST102, if have one from the car call of floor and not from the floor call of car, operation order administrative unit 200 just prolongs the time T 1 during the acceleration phase K1 shown in Fig. 3 in step ST104, do not consider therein and take sensation, and the time that prolongs is offered operating speed producer 201.Operating speed instruction in the time T 1 during the operating speed producer 201 generation acceleration phase k1 makes lift car 105 move to the floor that produces car call then.
If does not call out in the bridge railway carriage or compartment from floor in step ST101, just in step ST105, detect the floor call that whether has from car.If a floor call from car is arranged, the fixing time T 1 during the acceleration phase K1 shown in Fig. 3 in step ST106 just, considered therein and taken sensation, and according to step ST103 in identical method send to operating speed command generator 201.The operating speed command generator produces the operating speed instruction, and makes lift car 105 move to the destination during acceleration phase K1 regular time T1.
At step ST101 in ST105, if having one from the car call of floor and not from the floor call of car, the time T 1 during the prolongation acceleration phase K1 in step ST107 just, and make lift car turn back to reference floor to enter stand-by state.
With different among the step ST100, when if the operation mode of elevator is in fire pattern or fire fighting pattern, just in step ST109, prolong the time T 1 during the acceleration phase K1, do not consider therein and take sensation, and it is irrelevant with car call and floor call, produce the operating speed distribution graph then, thereby make the passenger in the building that elevator is housed to flee from the building soon.
Specifically, according to the stage K1 shown in Fig. 3, K2 and K3 area sum can not surpass the condition of normal speed MAX-V, and the upper limit of the time T 1 during the acceleration phase K1 shown in Figure 3 can be represented with following formula (6).
The curve of Fig. 8 A and 8B is used to illustrate elevator position distribution graph of the present invention and elevator acceleration profile.Adopting the elevator normal speed in the present embodiment is the condition of 120m/mim.If the Jerk acceleration/accel J in the acceleration diagram shown in Figure 3 is fixed on 0.5m/sec 3,, just may obtain the result shown in Fig. 8 A because the limit value of the time T 1 that provides in the formula (6) is two seconds.Specifically, Fig. 8 A has represented a kind of Simulation result, and wherein the time T 1 during the acceleration phase K1 was set to one second and 0.5 second, and they all were within two seconds.When time T1 was 0.5 second, lift car moves 20m need be with 18.5 seconds, and when time T1 was one second, lift car moves same distance to be needed with 15 seconds.
As mentioned above, if the condition according to lift car produces different operating speed instructions, just can make service time the shortest, and owing to can predict service time, just can improve the operating efficiency of lift car significantly, can also constitute the cluster management system of a plurality of elevators preferably, and improve and take sensation, the time of run error is reduced to minimum.
In addition, if do not have the passenger in the elevator or the emergency state has taken place, can also make the wait time of passenger on floor reduce to the shortest by the time T 1 during the change acceleration phase K1.
Execute example although disclose the best of the present invention for explanation, those skilled in the art still can realize various distortion and additions and deletions under the condition that does not break away from claims institute limited range.

Claims (11)

1, a kind of operating speed CCE of elevator comprises:
Be used to produce the car call button and the floor call button of car call signal or floor call sign;
The operation order administrative unit is used for determining to send the operating speed figure of instruction to lift car, determines a priority call in the middle of the calling by car call button and the registration of floor call button, and produces an operating speed figure;
The operating speed command generator, be used for according to according to the calling of operation order administrative unit registration with from the car call of floor or the operating speed figure that generates from the priority call of the floor call of car, from the acceleration diagram of an operational phase setting, determine a Jerk acceleration/accel and a response time, obtain the reference velocity distribution graph in a stage, and produce the proportional operating order of difference with the detected current elevator car position value of the reference position distribution graph of integration acquisition by the reference velocity distribution graph and car position detector; And
An electric power amplifier is used for the amplifieroperation speed value, so that operate the electric machine in the driver element that comprises cylinder and motor, makes lift car according to the work of reference velocity distribution graph.
2, according to the device of claim 1, wherein said operating speed instruction control producer comprises:
An adder, be used for determining a reference velocity distribution graph according to a velocity diagram that produces by the operation order administrative unit, reference position distribution graph and the current positional value addition of lift car that reference velocity figure distribution graph integration is obtained, and obtain a positional error; And
Proportional control apparatus is used to produce a proportional operating speed instruction of positional error that obtains with adder.
3, a kind of operating speed command control method of elevator may further comprise the steps:
When the priority call in the calling of registering produces an operating order, determine that from the Jerk acceleration diagram of setting Jerk acceleration/accel and response time drive lift car in according to the operation order administrative unit;
Use Jerk acceleration/accel and the response time determined to calculate the reference velocity distribution graph of an operational phase;
To reference velocity distribution graph integration and calculate the reference position distribution graph of lift car; And
Current location and reference position distribution graph according to lift car calculate the operating speed command value that is used to operate lift car.
4, according to the method for claim 3, wherein, the described reference velocity distribution graph that is used for seven operational phases separately meets the following conditions:
V 1(KT)＝J/2(KT) 2
V 2(KT)＝J(K 1T)(KT)+V 1(K 1T)
V 3(KT)＝-J/2(KT) 2+J(K 1T)(KT)+V 2(K 2T)
V 4(KT)＝J(K 1T) 2+J(K 1T)(K 2T)
V 5(KT)＝-J/2(KT) 2+V 4(0)
V 6(KT)=J (K 1T) (KT)+J/2 (K 1T) 2+ J (K 1T) (K 2T), and
V 7(KT)＝J/2(KT) 2-J(K 1T)(KT)+J/2(K 1T) 2
Wherein J represents the Jerk acceleration/accel, and T represents control cycle time (10ms), K 1T represents response time, and V 4(0) is illustrated at the uniform velocity stage (K 4) in normal speed.
5, according to the method for claim 3, wherein, the described reference position distribution graph of lift car meets the following conditions: P ^ ( KT ) = ∫ V i * dt , I=1 wherein, 2,3 ..., 7
6, according to the method for claim 3, wherein, described operating speed instruction meets the following conditions: V ( KT ) = K P * ( P ^ ( KT ) - P ( KT ) ) - - - ( 5 ) , K wherein PIt is proportional gain.
7, according to the method for claim 3, wherein, described elevator drive step comprises:
First substep detects therein from the car call of floor with from the floor call of car;
Second substep when detecting a floor call from car, is carried out the service of floor call during the certain hour of setting according to the reference velocity distribution graph during the acceleration phase; And
The 3rd substep when not detecting the floor call from car in the first step, according to taking the time of feeling to change the Jerk acceleration/accel stage, and is carried out the car call service according to thus obtained reference velocity distribution graph.
8, according to the method for claim 7, wherein, the described time changes only carries out within the Jerk acceleration/accel stage.
9, according to the method for claim 7, wherein, the time upper limit value in the acceleration phase meets the following conditions:
(MAX-V) expression normal speed wherein, and J represents the Jerk acceleration/accel.
10, according to the method for claim 8, wherein, the time upper limit value in the acceleration phase meets the following conditions:
(MAX-V) expression normal speed wherein, and J represents the Jerk acceleration/accel.
11, according to the method for claim 7, wherein, further may further comprise the steps, in this step, after the operation operation mode is set at fire pattern or modes of fire suppression as if beginning at elevator, just change the time of acceleration phase, irrelevant with the calling that whether detects from the passenger in the car, thus an emergency operation velocity profile produced.
CN96122745A 1995-10-05 1996-10-05 Operation speed command controlling apparatus and method for elevator Pending CN1155506A (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1019950034097A KR0167184B1 (en) 1995-10-05 1995-10-05 Elevator speed order method and equipment
KR34097/95 1995-10-05

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CN1155506A true CN1155506A (en) 1997-07-30

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CN (1) CN1155506A (en)
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105173932A (en) * 2015-09-28 2015-12-23 日立电梯(上海)有限公司 Quick response method of elevator
CN106966246A (en) * 2017-02-23 2017-07-21 上海富士电梯有限公司 Elevator provided with adaptive bridge railway carriage or compartment feed speed control system

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100336356B1 (en) * 1999-09-30 2002-05-13 장병우 Operation control method at the time of layer height for hydraulic elevator
JP3965934B2 (en) * 2001-05-09 2007-08-29 株式会社日立製作所 Moving body control device and moving body system

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105173932A (en) * 2015-09-28 2015-12-23 日立电梯(上海)有限公司 Quick response method of elevator
CN106966246A (en) * 2017-02-23 2017-07-21 上海富士电梯有限公司 Elevator provided with adaptive bridge railway carriage or compartment feed speed control system

Also Published As

Publication number Publication date
KR970020919A (en) 1997-05-28
CO4650072A1 (en) 1998-09-03
KR0167184B1 (en) 1998-12-01
SG64949A1 (en) 1999-05-25

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