CN117246857A - Elevator control device, elevator control method, and storage medium - Google Patents

Abstract

The invention relates to an elevator control device, an elevator control method and a storage medium. The elevator control device is provided with: a car position detecting unit that counts pulse signals output from the pulse generator in synchronization with rotation of the hoisting machine, and detects a car position based on the pulse count value; a car position deviation determining unit for determining whether or not a position deviation occurs between the hoisting machine and the rope; an operation control unit for moving the car to the nearest floor when a positional deviation occurs between the hoisting machine and the rope; a car position deviation amount estimating unit that estimates a rope sliding distance of the rope with respect to the hoisting machine by a predetermined calculation, estimates a deviation amount of the car position using the estimated rope sliding distance, and determines a stop floor of the car after movement by the movement control unit based on the estimated deviation amount of the car position and a floor corresponding to the pulse count value of the car position detecting unit; and a correction unit that corrects the pulse count value of the car position detection unit to a value corresponding to the specified stop layer.

Description

Elevator control device, elevator control method, and storage medium

The present application is based on Japanese patent application 2022-097275 (application day: 2022, 6, 16 days) and enjoys priority of the application. This application is incorporated by reference in its entirety.

Technical Field

The embodiment of the invention relates to an elevator control device, an elevator control method and a storage medium.

Background

The elevator control device counts pulse signals transmitted from an encoder (pulse generator) for controlling a motor mounted on a hoisting machine for the purpose of cost reduction of an elevator system, etc., thereby grasping the position of a car. However, when the elevator is stopped in an emergency due to a power failure, an abnormality detection, or the like during traveling, if a large pulse deviation of half or more of the floor height occurs due to rope slippage, the elevator may be corrected to an erroneous floor pulse during the pulse correction of the nearest floor. As a countermeasure against this, there is a method of judging whether or not a floor error is being recognized based on the magnitude relation between a floor pulse and a currently recognized pulse at the time of a nearest floor stop and correcting the pulse, but in this method, when the rope slides by 1 floor or more, the pulse correction cannot be performed accurately.

Disclosure of Invention

Accordingly, it is desirable to provide an elevator control device, an elevator control method, and a storage medium, which can accurately perform pulse correction even when the rope sliding distance is 1 floor or more.

An elevator control device according to an embodiment includes: a car position detecting unit that counts pulse signals output from the pulse generator in synchronization with rotation of the hoisting machine, and detects the position of the car based on the pulse count value; a car position deviation determining unit configured to determine whether or not a position deviation has occurred between the hoisting machine and the rope; an operation control unit that moves the car to a nearest floor when a positional deviation occurs between the hoisting machine and the rope; a car position deviation amount estimating unit that estimates a rope sliding distance of the rope with respect to the hoisting machine by a predetermined calculation, estimates a deviation amount of a car position by using the estimated rope sliding distance, and determines a stop layer of the car after movement by the movement control unit based on the estimated deviation amount of the car position and a layer corresponding to the pulse count value of the car position detecting unit; and a correction unit configured to correct the pulse count value of the car position detection unit to a value corresponding to the specified stop layer.

Drawings

Fig. 1 is a diagram showing an example of the structure of an elevator according to the embodiment.

Fig. 2 is a diagram showing an example of the configuration of the stop detection sensor 22.

Fig. 3 is a block diagram showing a functional configuration of elevator control device 30.

Fig. 4 is a diagram showing an example of the floor pulse table 36.

Fig. 5 is a view for explaining a floor height length between floors.

Fig. 6 is a diagram showing an example of the offset determination table 37.

Fig. 7 is a diagram for explaining an example of control in the case where the sliding distance is equal to or greater than the layer height.

Fig. 8 is a flowchart showing an example of the operation performed by elevator control device 30.

Detailed Description

Hereinafter, embodiments will be described with reference to the drawings.

< construction of Elevator >

Fig. 1 is a diagram showing an example of the structure of an elevator according to the embodiment.

A car 11 and a counterweight (hoisting weight) 12 of an elevator are provided in the hoistway 10, and are supported by guide rails, not shown, so as to be movable up and down. The car 11 has a sheave 14 on the car. A rope 13 having one end fixed to the top of the hoistway is mounted on the sheave 14. The rope 13 is suspended on a sheave 16 of the counterweight 12 via a traction sheave 15, and the other end portion thereof is fixed to the top of the hoistway 10.

The traction sheave 15 is mounted on a motor shaft of the traction machine 17. By rotating the traction sheave 15 by driving the hoisting machine 17, the car 11 and the counterweight 12 are lifted and lowered in the hoistway 10 in a bucket manner via the rope 13 wound around the traction sheave 15.

Here, in the present embodiment, an encoder (pulser) 18 is mounted on the motor shaft of the hoisting machine 17 in order to continuously detect the position (absolute position) of the car 11 during movement. The encoder 18 outputs a pulse signal synchronized with the rotation of the hoisting machine 17.

A car door 19 is provided in the car 11. When the car 11 stops at any floor, the car door 19 engages with a landing door 21 of a landing 20 provided at the floor to perform opening and closing operations. The drive source (door motor) is located on the car 11 side, and the landing door 21 is opened and closed following the car door 19 when the car is stopped.

A stop detection sensor 22 for detecting a stop position determined for each floor is provided at the bottom of the car 11. As shown in fig. 2, the stop detection sensor 22 has a configuration in which a plurality of (here, 3) limit switches SA, SC, SB are arranged at predetermined intervals in the operation direction. On the other hand, a stop detection plate 23 having a predetermined length is provided for each floor in the hoistway 10.

The limit switches SA, SC, SB are formed of, for example, コ -type photosensors in which the projector and the light receiver face each other, and switch operation is performed by blocking light between the projector and the light receiver by the stop detection plate 23 to output an on signal. In the example of fig. 2, when the car 11 is traveling in the UP direction (upward), it is turned on in the order of SA-SC-SB. When the car 11 is traveling in the direction DN (downward), it is turned on in the order SB-SC-SA.

< functional Structure of Elevator control device 30 >

Fig. 3 is a block diagram showing a functional configuration of an elevator control device 30 according to the present embodiment.

The functions constituting the elevator control device 30 may be configured as a program for realizing a computer, for example. The program is stored in a computer-readable storage medium.

The elevator control device 30 includes a car position detection unit 31, a stop position detection unit 32, a travel control unit 33, a car position deviation determination unit 34, a correction unit 35, a floor pulse table (information table) 36, a deviation amount determination table (information table) 37, and a car position deviation amount estimation unit 38.

The car position detecting unit 31 counts pulse signals output from the encoder 18 in synchronization with the rotation of the hoisting machine 17, and continuously detects the position of the car 11 in motion based on the pulse count value. The car position detecting unit 31 further includes a storage unit 31a for storing the detected pulse count value.

The stop position detecting unit 32 detects a stop position determined for each floor in accordance with the movement of the car 11. The stop position detection unit 32 further includes a storage unit 32a for storing information of stop positions specified for each floor.

The operation control unit 33 controls the travel of the elevator by the hoisting machine 17. For example, the travel control unit 33 moves the car 11 to the destination floor at a predetermined speed based on the car position detected by the car position detection unit 31, and then stops the car 11 at the stop position of the floor detected by the stop position detection unit 32. The travel control unit 33 moves the car 11 to the nearest floor when the car position detected by the car position detection unit 31 is shifted (when the pulse count value of the car position detection unit 31 does not accurately indicate the current car position) or when a position shift is detected by a car position shift determination unit 34 described later.

The car position deviation determining unit 34 determines whether or not a position deviation has occurred between the hoisting machine 17 and the rope 13. For example, the car position deviation determination unit 34 determines that the detection result of the car position detection unit 31 has a position deviation when an error of a predetermined value or more such as 50mm, 100mm, or 200mm occurs between the car position of the car 11 detected by the car position detection unit 31 (the pulse count value of the car position detection unit 31) and the stop position of the car 11 detected by the stop position detection unit 32 (the pulse count value of the stop position detection unit 32). The car position deviation determination unit 34 includes a storage unit 34a for storing the determination result.

The car position deviation determination unit 34 may be configured to determine that the detection result of the car position detection unit 31 has deviated in the case where the car 11 is stopped in an emergency while the hoisting machine 17 is being driven. For example, when the car 11 (hoisting machine 17) is suddenly stopped due to a power failure or other cause such as a failure (breakage of a component, abnormality of a sensor, or the like) that affects the operation of the car 11, the rope 24 may slide on the sheave 28 due to inertia of the car 11 and the counterweight 12. In this case, although the car 11 moves, the pulse signal is not output from the encoder 18, and the detection result of the car position detecting unit 31 may be different from the actual car position of the car 11, that is, the number of pulses shown in the floor pulse table 36. In this case, the car position deviation determination unit 34 can determine that the position deviation of the car 11 has occurred.

Fig. 4 shows an example of the floor pulse table 36.

The floor pulse table 36 stores in advance the number of pulses obtained when the car 11 stops at each floor when a PD (position data) is set.

For example, as shown in fig. 5, assume that the layer height length between 1 layer and 2 layers is 3000 (mm), the layer height length between 2 layers and 3 layers is 3000 (mm), and the layer height length between 3 layers and 4 layers is 3000 (mm) … …. The number of pulses output from the encoder 18 is counted successively when running from the lowest layer (layer 1) to the UP direction at the time of PD setting, thereby obtaining layer 1: "000000", 2 layers: "003000", 3 layers: "006000", 4 layers: the number of pulses is "009000" … …. These pulse numbers (pulse count values) are stored in the floor pulse table 36 in association with the respective floors.

If no positional deviation occurs, the pulse count value of the pulse signal counted by the car position detecting unit 31 is the same as the number of pulses of each floor stored in the floor pulse table 36 when the car 11 stops at each floor.

The correction unit 35 corrects the pulse count value of the car position detection unit 31 to a value corresponding to a stop floor determined by a car position deviation amount estimation unit 38 (described later). Specifically, when the position of the car 11 is shifted, that is, when the car 11 stops at the nearest floor and the car door 19 (the landing door 21) opens, the car position of the car 11 detected by the car position detecting unit 31 is matched with the position of the stop floor (standard car position) determined by the car position shift amount estimating unit 38. That is, the correction unit 35 reads the car position (number of pulses) of the specified stop floor (nearest floor) from the floor pulse table 36, and corrects the pulse count value of the car position detection unit 31 (the count value of the encoder 18 recognized by the car position detection unit 31) based on the car position (number of pulses). The correction unit 35 includes a storage unit 35a for storing a value used in the correction process.

The offset determination table 37 is information for estimating the offset of the car position by the car position offset estimating unit 38. The details thereof will be described later.

The car position deviation amount estimating unit 38 estimates a rope sliding distance of the rope 13 with respect to the hoisting machine 17 by a predetermined calculation, estimates a deviation amount of the car position by referring to the deviation amount determining table 37 by using the estimated rope sliding distance, and determines a stop layer of the car after the movement by the operation control unit 33 based on the estimated deviation amount of the car position and a layer corresponding to the pulse count value of the car position detecting unit 31 when the car position deviation determining unit 34 determines that a position deviation has occurred between the hoisting machine 17 and the rope 13.

The car position deviation amount estimating unit 38 uses at least information on the speed of the car 11 and the load in the car when the rope slides in the calculation of the rope sliding distance.

In the shift amount determination table 37, a plurality of shift amounts of the car position are prepared in advance as candidates, and the car position shift amount estimating unit 38 selects a shift amount of the car position corresponding to the estimated rope sliding distance from among them. The candidates of the offsets of the plurality of car positions on the offset determination table 37 are prepared by 4 or more for a distance of half of the 1 floor height. In the shift amount determination table 37, information indicating the traveling direction of the car 11 during rope sliding and the magnitude relation between the pulse count value of the car position obtained from the detection result of the car position detection unit 31 and the pulse count value of the stop position obtained from the detection result of the stop position detection unit 32 is described so as to correspond to each of the candidates of the shift amounts of the plurality of car positions.

< example of Table 37 for offset determination >

Fig. 6 shows an example of the offset determination table 37.

As shown in fig. 6, a plurality of candidates relating to the rope sliding distance are prepared in the offset determination table 37. Specifically, "half or less of the layer height", "half of the layer height to 1 layer height or less", "half of the layer height to 1 layer height+1 layer height to 2 layer height", … … are prepared in advance. The magnitude relation between the running direction of the car 11 when the rope slides and the pulse count value of the car position (hereinafter, referred to as "car position pulse") and the pulse count value of the stop position (floor pulse) obtained from the detection result of the stop position detecting unit 32 is recorded so as to correspond to each candidate.

The magnitude relation between the pulse count value of the car position after the re-leveling and the pulse corresponding to the identified floor can be grasped from the magnitude relation between the car position pulse and the floor pulse described in the offset determination table 37. The magnitude relation between the car position pulse and the floor pulse is changed by a distance of half the 1 floor height. Thus, the current accurate car position can be grasped from the "magnitude relation between the car position pulse and the floor pulse" and the "rope sliding distance".

For example, when the traveling direction is "UP" and the "floor pulse > car position pulse", it is known that the traveling direction corresponds to any one of "half or less of the floor height", "half of the 1-floor height to 1-floor height+1-floor height", and … … "among the plurality of candidates belonging to G1. Which one can be determined from the calculated rope sliding distance.

For example, when the traveling direction is "DN" and the "floor pulse > car position pulse", it is known that any one of the plurality of candidates "half of the floor height to 1 floor height or less", "half of the 1 floor height+1 floor height to 2 floor height", and … … corresponds to G2. Which one can be determined from the calculated rope sliding distance.

< estimation of rope sliding distance >

When the free stroke due to the brake actuation delay is ignored, the rope sliding distance can be calculated according to the following expression (1).

S＝V ² /2β……(1)

Wherein S: rope sliding distance [ m ], V: speed at the beginning of rope sliding [ m/s ], beta: deceleration of rope sliding

For example, the deceleration β at the time of rope slipping during UP operation can be calculated according to the following equations (2) to (4).

β＝g·A/B……(2)

A＝Tr(W _C +W _L +W _TC +W _CPC +W _RC )

-(W _CW +W _CPCW +W _RCW )……(3)

B＝Tr(W _C +W _L +W _TC +W _CPC +R _sp ·W _RC )

+(W _CW +W _CPCW +R _sp ·W _RCW )……(4)

Wherein W is _C : car mass [ kg]、W _L : car loading [ kg]、W _TC : car side tail cable mass [ kg]、W _CPC : cage-side compensator mass kg]、W _RC : main rope weight of cage side [ kg ]]、W _CW : weight of counterweight [ kg ]]、W _CPCW : weight side compensator mass [ kg]、W _RCW : weight side main rope mass [ kg]、R _sp : rope winding coefficient, g: gravitational acceleration [ m/s ] ² ]Tr: allowable traction ratio

The allowable traction ratio Tr can be calculated according to the following expression (5).

Tr＝e ^κ·μ·θ ……(5)

Wherein, κ: groove coefficient, μ: coefficient of kinetic friction, θ: rope winding angle [ rad ]

In the formulas (2) to (4), W _L 、W _TC 、W _CPC 、W _RC 、W _CPCW 、W _RCW According to the load and the car position, but due to W _L Dominant, so other variables can be considered 0. That is, the deceleration β at the time of rope sliding can be expressed simply as the following expression (6).

β＝g·(Tr(W _C +W _L )-W _CW )/(Tr(W _C +W _L )+W _CW )……(6)

W _C 、W _CW Tr, g are predetermined constants. Thus, only ifKnowing the car loading W _L Deceleration can be calculated.

< case where the sliding distance is equal to or greater than the layer height >

Next, an example of control when the sliding distance is equal to or greater than the floor height in the case of emergency stop due to power failure, abnormality detection, or the like during elevator traveling will be described with reference to fig. 7.

(1) If the car position pulse and the actual car position are in the following states, an emergency stop occurs during traveling in the UP direction.

Car position pulse (C1): 4700mm

Actual car position (R1): 4700mm

(2) When the rope is stopped after sliding and the rope sliding distance is 3300mm, the car position pulse and the actual car position are as follows.

Car position pulse (C1): 4700mm

Actual car position (R2): 8000mm

(3) When the car 11 is moved 1000mm while the re-leveling is performed, the car position pulse and the actual car position are as follows.

Car position pulse (C2): 5700mm

Actual car position (R3): 9000mm

At this time, the car position pulse (C2) is 5700mm, and therefore the floor pulse table according to fig. 4 recognizes that the car 11 is at "3F". Since 600 mm >5700mm, it is found from the table for determining the amount of deviation of fig. 6 that the "floor pulse" corresponding to "UP" corresponds to the "car position pulse", and that the actual rope sliding distance corresponds to any one of the plurality of candidates "half or less of the floor height", "1 floor height to 1 floor height+1 floor height", and … … belonging to G1.

Here, when assuming that the estimated rope sliding distance is 3100mm, it is known that the actual rope sliding distance corresponds to "half of 1 floor height to 1 floor height+1 floor height".

Thus, since the car position pulse is shifted by 1-floor high-volume pulse, the car position pulse may be corrected so as to correspond to "4F".

< example of operation of Elevator control device 30 >

An example of the operation of the elevator control device 30 will be described with reference to the flowchart of fig. 8.

First, it is determined whether or not a rope slip is generated due to a positional deviation between the hoisting machine 17 and the rope 13 (S1).

When the rope slip occurs, information on the running direction, speed, and load in the car when the rope slip occurs is recorded in a predetermined storage area (S2).

Then, the rope sliding distance is estimated (S3). The process herein is referred to as (a).

Next, it is determined whether or not the circuit recovery is safely completed (S4).

When the circuit recovery is completed safely, the re-leveling is performed (S5), and it is determined whether or not the stopping of the car 11 is completed (S6).

When the stop is completed, the floor is judged based on the car position pulse (S7). The process herein is referred to as (b).

Next, candidates of the rope sliding distance are estimated from the traveling direction of the rope sliding and the magnitude relation between the floor pulse and the car position pulse obtained by the processing (b). The process herein is referred to as (c).

Finally, according to the result of the processing (a) and (c), the current floor is judged and the car position pulse is corrected.

< summary >

According to the embodiment, even when the rope sliding distance is 1 floor or more, the pulse correction can be accurately performed.

Further, the present invention can be realized by merely changing software without adding hardware elements. This makes it possible to recover the elevator after the rope slides as early as possible.

Since the rope sliding distance can be estimated in units of half the 1-floor height, an example in which the rope mass is omitted is shown, but calculation in consideration of the rope mass may be performed when the rope mass is dominant due to a high lifting stroke or the like.

Further, since the correction amount of the pulse is the rope sliding distance, the accumulation of the number of rope sliding times and the distance can be stored and used as maintenance data as a reference for the rope replacement time.

In the high-speed model, the speed governor PG may be omitted and the cost may be reduced in the model using the speed governor PG (Pulse Generator) due to the problem of rope slip.

While the present invention has been described with reference to several embodiments, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other modes, and various omissions, substitutions, and changes can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalents thereof.

Claims (7)

1. An elevator control device is provided with:

a car position detection unit (31) which counts pulse signals output from the pulse generator (18) in synchronization with the rotation of the hoisting machine, and detects the position of the car based on the pulse count value;

a car position deviation determination unit (34) for determining whether or not a position deviation has occurred between the hoisting machine and the rope;

an operation control unit (33) for moving the car to the nearest floor when a positional deviation occurs between the hoisting machine and the rope;

a car position deviation amount estimating unit (38) which estimates a rope sliding distance of the rope with respect to the hoisting machine by a predetermined calculation, estimates a deviation amount of a car position by using the estimated rope sliding distance, and determines a stop layer of the car after the movement by the movement control unit (33) based on the estimated deviation amount of the car position and a layer corresponding to a pulse count value of the car position detecting unit (31); and

and a correction unit (35) for correcting the pulse count value of the car position detection unit (31) to a value corresponding to the specified stop layer.

2. The elevator control according to claim 1, wherein,

the car position deviation amount estimating unit (38) uses information on at least the speed of the car and the load in the car when the rope slides in the calculation of the rope sliding distance.

3. The elevator control according to claim 1, wherein,

the car position deviation amount estimating unit (38) selects a car position deviation amount corresponding to the estimated rope sliding distance from an information table (37) in which a plurality of car position deviation amounts are prepared in advance as candidates.

4. The elevator control according to claim 3, wherein,

the candidates of the offsets of the plurality of car positions on the information table (37) are prepared by 4 or more for a distance of half of the 1 floor height.

5. The elevator control according to claim 4, wherein,

the information table (37) is described with information indicating the traveling direction of the car when the rope slides and the magnitude relation between the pulse count value of the car position and the pulse count value of the stop position so as to correspond to the candidates of the offset amounts of the plurality of car positions.

6. An elevator control method executed by an elevator control device, the elevator control device comprising: a car position detection unit (31) which counts pulse signals output from the pulse generator (18) in synchronization with the rotation of the hoisting machine, and detects the position of the car based on the pulse count value; a car position deviation determination unit (34) for determining whether or not a position deviation has occurred between the hoisting machine and the rope; and an operation control unit (33) for moving the car to the nearest floor when a positional deviation occurs between the hoisting machine and the rope,

the elevator control method comprises the following steps:

estimating a rope sliding distance of the rope with respect to the hoisting machine by a predetermined calculation, estimating a shift amount of a car position by using the estimated rope sliding distance, and determining a stop layer of the car after the movement by the movement control unit (33) based on the estimated shift amount of the car position and a layer corresponding to a pulse count value of the car position detection unit (31); and

the pulse count value of the car position detecting unit (31) is corrected to a value corresponding to the specified stop layer.

7. A storage medium storing a program and readable by a computer, wherein the program causes the computer of an elevator control apparatus to realize a function, the elevator control apparatus comprising: a car position detection unit (31) which counts pulse signals output from the pulse generator (18) in synchronization with the rotation of the hoisting machine, and detects the position of the car based on the pulse count value; a car position deviation determination unit (34) for determining whether or not a position deviation has occurred between the hoisting machine and the rope; and an operation control unit (33) for moving the car to the nearest floor when a positional deviation occurs between the hoisting machine and the rope,

the above program causes a computer of the elevator control device to realize the following functions:

estimating a rope sliding distance of the rope with respect to the hoisting machine by a predetermined calculation, estimating a shift amount of a car position by using the estimated rope sliding distance, and determining a stop layer of the car after the movement by the movement control unit (33) based on the estimated shift amount of the car position and a layer corresponding to a pulse count value of the car position detection unit (31); and

and a function of correcting the pulse count value of the car position detecting unit (31) to a value corresponding to the specified stop layer.