CN1302975C - Elevator control apparatus - Google Patents

Elevator control apparatus Download PDF

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Publication number
CN1302975C
CN1302975C CNB028047338A CN02804733A CN1302975C CN 1302975 C CN1302975 C CN 1302975C CN B028047338 A CNB028047338 A CN B028047338A CN 02804733 A CN02804733 A CN 02804733A CN 1302975 C CN1302975 C CN 1302975C
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China
Prior art keywords
cabin
layer
velocity mode
stop
next time
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CN1491179A (en
Inventor
酒井雅也
上田隆美
笹川耕一
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Mitsubishi Electric Corp
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Mitsubishi Electric Corp
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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
    • B66B1/28—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical
    • B66B1/30—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical effective on driving gear, e.g. acting on power electronics, on inverter or rectifier controlled motor
    • 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
    • B66B1/28—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical
    • B66B1/285—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical with the use of a speed pattern generator

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

Abstract

An elevator control apparatus capable of improving movement of a cage by reducing the operation time by adjusting the maximum speed and acceleration according to the load and movement distance. In the elevator, a motor (5) supplied with power from an inverter (4) drives a traction machine (6) having a balancing weight (8) connected to a passenger cage (7) via a rope. The elevator control apparatus includes cage load detection means (2) for measuring the weight of the passenger cage (7) as a cage load, next stop floor setting means (1) for setting the next floor where the cage stops, and cage speed pattern generation means (3) which uses the cage load obtained by the cage load detection means (2) and the next stop floor set by the next stop floor setting means (1), so as to generate a cage speed pattern in which the cage (7) reaches the next stop floor in the shortest time within the allowable range of the motor (5).

Description

Elevator control gear
Technical field
The present invention relates to a kind of velocity mode of the electrical motor that offers elevator etc. according to load change etc., adjust the elevator control gear of acceleration/accel and maximum speed.
Background technology
Below, with reference to Figure 15, just the technology of relevant elevator control gear in the past is illustrated.Figure 15 is the figure of the relation of the output frequency (speed: represent the identical meaning with lower frequency and speed) of representing elevator control gear in the past and torque.In Figure 15, f0 represents base frequency (command speed), Tmax represents the maximum output torque value, Tx represents the torque value that needs under first load, Ty represents the torque value that needs under second load (＜the first load), fx represents that the peak output frequency that can export under first load, fy represent the peak output frequency that can export under second load.
In the frequency band more than base frequency f0, because the needed torque Tx of torque ratio first load that obtains at the frequency band higher than frequency f x is little, so become below the frequency f x for the peak output frequency of first load (the torque Tx that needs).In addition, because the needed torque Ty of torque ratio second load that obtains at the frequency band higher than frequency f y is little, so become below the frequency f y for second load (the torque Ty that needs).
As mentioned above, for the various loads of size are obtained enough torques, operating frequency is set at the frequency that can obtain below the output frequency of the torque of maximum load, makes the electrical motor rotation.
In above-mentioned control setup, when load hour, can be the peak output frequency setting for very high, but when load is big, if exist not the peak output frequency setting for very low, just can't obtain sufficient torque, the problem that in elevator, can't rise, so be necessary that be the frequency that load can obtain enough torques when maximum to the peak output frequency setting, turn round.
In example shown in Figure 15, be the peak output frequency setting fx promptly, when load hour, the peak output frequency also is fx.Therefore, when load hour, the peak output frequency is low, so exist owing to quickening to expend time in and can't shorten time of run to cause this problem of efficient difference.
At this problem points, open in the flat 3-56308 communique the spy, to the frequency more than the rated frequency, obtain magnitude of power, and compare, to variable-ratio device output speed setting value with power value under the rated frequency by voltage, electric current.
In addition, open in the control setup of flat 8-107699 communique the spy, in the variable-ratio device of transformation component, comprising: the voltage detecting circuit of DC bus-bar voltage that detects input one side of transformation component with the alternating electromotive force that direct current power is transformed to variable frequency, is transformed to variable voltage; The current detection circuit of each phase current of output one side of detection transformation component; Use the DC bus-bar voltage of detection and each phase current of detection, differentiate the size that is connected the load on the transformation component automatically, and determine the control circuit that the peak output frequency is exported.
In control setup in the past, exist in order to shorten time of run, change the control setup of maximum speed according to load.But, only having improved maximum speed, time of run but might not shorten, if miles of relative movement is short, then compares with improving maximum speed, and time of run was shorter when the raising acceleration/accel can make.Therefore, only exist and change maximum speed, increase this problem owing to miles of relative movement makes time of run according to load.
Summary of the invention
The existence of problem in view of the above the objective of the invention is to: provide a kind of and can change maximum speed or acceleration/accel according to load and miles of relative movement, can shorten the elevator control gear of time of run.
To achieve these goals, elevator control gear of the present invention has in the elevator of the winch that is connected the bob-weight on the main cabin by rope in driving, possesses:
The cabin load detection parts of the cabin load in the described main cabin of instrumentation;
Set and stop a layer set parts next time that stops layer next time; With
Stop layer according to the cabin load that obtains by described cabin load detection parts with by stopping layer next time of set parts setting described next time, come described main cabin is arrived the next cabin velocity mode generation parts that cabin velocity mode layer, that shorten time of run carries out computing that stop.
Be more preferably, the shortening of time of run minimizes time of run.
Be more preferably, described cabin velocity mode generates parts when the cabin velocity mode is carried out computing, the upper limit of decision cabin maximum speed, cabin acceleration/accel, cabin jerk.
Be more preferably, stop a layer set parts described next time, being used on average stopping layer to what stop cabin that layer obtaining as the statistic that stops the miles of relative movement of layer according to the number of starts of elevator and the decision that stops from the cabin starting layer to next time the next time that described cabin velocity mode carries out computing.
Be more preferably, stop layer set parts described next time the layer that on average stops in described cabin layer is set for minimum stopping as the shifting time expectation value that stops layer to decision of each starting layer.
Be more preferably, what stop that statistic that layer set parts stop layer according to the decision of each different time band of passenger's needs sets described cabin described next time on average stops layer.
Be more preferably, the layer that on average stops that velocity mode generation parts in described cabin stop layer and described cabin more described next time comes the cabin velocity mode is carried out computing.
Be more preferably, the stopped layer that described cabin velocity mode generation parts comparison cabin can stop and the layer that on average stops in described cabin come the cabin velocity mode is carried out computing.
Be more preferably, described cabin velocity mode generates parts, as the cabin velocity mode, in cabin speed, cabin acceleration/accel or the cabin jerk at least one is carried out computing.
Be more preferably, described elevator control gear is provided with the table of putting down in writing the cabin load accordingly and stopping layer and velocity mode next time.
In addition, elevator control gear of the present invention comprises utilizing electrical motor by the changer power supply to drive in the elevator with the winch that is connected the bob-weight on the main cabin by rope: the weight in described main cabin as the cabin load and the cabin load detection parts of instrumentation; Set and stop a layer set parts next time that stops layer next time; Generate in the permission drive range of described electrical motor the cabin velocity mode that arrives the cabin velocity mode that stops layer next time with the described main cabin of the shortest time chien shih and generate parts according to the cabin load that obtains by described cabin load detection parts with by stopping next time that layer set parts set described next time and stop layer.
In addition, elevator control gear of the present invention also comprises: the inscape temperature detection part that the temperature of the inscape that constitutes described changer is carried out instrumentation; Set the critical temperature set parts of the temperature rising critical value of described inscape; According to the inscape temperature that obtains from described inscape temperature detection part with the temperature rising critical value of described critical temperature set parts setting, come the accounting temperature temperature of the critical permissible value critical permissible value calculating unit that rises that rises; Described cabin velocity mode generates parts and rises according to the temperature of described inscape and stop critical permissible value, the load of described cabin and described next time layer, in the drive range of the permission of described electrical motor, and the temperature ascending amount of the anticipation of described inscape generates described main cabin and arrives the cabin velocity mode that stop layer next time with the shortest time in temperature rises critical permissible value.
In addition, described velocity mode generates parts when generating the cabin velocity mode, the upper limit of decision cabin maximum speed, cabin acceleration/accel, cabin jerk.
In addition, described cabin velocity mode generates the parts handle motor torque waveform relevant with the cabin speed drive instruction that offers described electrical motor and is converted into the current value that flows through described inscape, restrict the condition of this current value waveform according to the function of the critical permissible value that rises by described temperature, generate the cabin velocity mode.
In addition, stop layer set parts described next time and on average stop layer to what stop cabin that layer obtaining as the statistic that stops the miles of relative movement of layer according to the number of starts of elevator and the decision that stops from the cabin starting layer to next time the next time that is used to generate described cabin velocity mode.
In addition, stopping layer set parts described next time becomes the layer that on average stops in described cabin and minimum stop layer and set as the shifting time expectation value that stops layer to decision of each starting layer.
In addition, stop layer set parts described next time and stop the statistic of layer according to the decision of each different time band of passenger's needs, that sets described cabin on average stops layer.
What in addition, described cabin velocity mode generated that parts stop layer and described cabin more described next time on average stops layer, generation cabin velocity mode.
What in addition, described cabin velocity mode generated stopped layer that parts comparison cabin can stop and described cabin on average stops layer, generation cabin velocity mode.
Description of drawings
Following brief description accompanying drawing.
Fig. 1 is the constructional drawing of the expression embodiment of the invention 1.
Fig. 2 is the characteristic map of the relation of the generation torque of electrical motor of the expression embodiment of the invention 1 and rotating speed.
Fig. 3 is the skeleton diagram of derivation that is used for the elevator mechanical system model of the embodiment of the invention 1.
Fig. 4 is the cabin velocity mode of the expression embodiment of the invention 1 and the figure of motor torque pattern.
Fig. 5 is the flow chart of the cabin velocity mode calculation step of the expression embodiment of the invention 1.
Fig. 6 is illustrated in the cabin velocity mode computing of the embodiment of the invention 1 relation of each parameter and the figure of restriction condition.
Fig. 7 is the figure of the cabin velocity mode computing example of the expression embodiment of the invention 1.
Fig. 8 is the figure that is used for the hypomere figure of instruction diagram 7.
The figure of the cabin miles of relative movement of Fig. 9 when to be expression with the cabin velocity mode in the stage casing of Fig. 7 drive.
Figure 10 is the constructional drawing of the expression embodiment of the invention 2.
Figure 11 is the flow chart of the cabin velocity mode calculation step of the expression embodiment of the invention 2.
Figure 12 is the mobile layer in cabin of the expression embodiment of the invention 3 and the figure of its probability of occurrence.
Figure 13 is the flow chart of the simplification velocity mode calculation step of the expression embodiment of the invention 3.
Figure 14 is the figure of the velocity mode computing example of the expression embodiment of the invention 4.
Figure 15 is the figure that represents the relation of the output frequency of transmission system in the past and torque.
The specific embodiment
Below, with reference to the description of drawings embodiments of the invention.
Embodiment 1
Fig. 1 is the constructional drawing of the expression embodiment of the invention 1.In Fig. 1, the 1st, set and to stop a layer set parts next time that stops layer next time, the 2nd, cabin load detection parts, the 3rd, according to the cabin load that obtains by cabin load detection parts 2 with by stopping layer the next time that stops 1 setting of layer set parts next time, be created in the drive range that can allow of electrical motor 5, and with the shortest time, the cabin velocity mode that main cabin 7 arrives the cabin velocity mode that stops layer next time generates parts, the cabin velocity mode generates parts, the 4th, changer, the 6th, have the winch that is connected the bob-weight 8 on the main cabin 7 by rope.
By in escalator and cabin, being provided for registering the device that stops layer next time, can realize stopping next time layer set parts 1.In addition, by the wireless communication component that waits, also can set from long-range.
Below, with reference to Fig. 2-Fig. 5, just action is illustrated.Fig. 2 is the figure of the characteristic of expression motor torque and motor speed.Fig. 3 is the figure of the relation of expression electrical motor 5, winch 6, main cabin 7, bob-weight 8.The subordinate of Fig. 4 represents the motor torque pattern, and its higher level represents the cabin velocity mode of this moment.Fig. 5 is the flow chart that expression is used to generate the treatment step of cabin velocity mode.
In Fig. 2, oblique line portion zone that electrical motor 5 surrounds on comprising by motor torque axle and curve and the action in its borderline zone are possible.This zone still when such, can be similar to if convex set is just passable, makes operating space become convex set.Torque is positive region representation power running state, negative region representation reproduced state.Represent this zone with Ω, this Ω is illustrated in Ω among Fig. 6 with limiting condition.
In Fig. 3, Tm represents motor torque, and J represents the moment of inertia of winch, and r represents the winch radius, and m1 represents the bob-weight quality, and m2 represents the cabin quality, and α represents the cabin acceleration/accel, and ω represents the winch rotating speed.In addition, g is an acceleration due to gravity.To the structure of figure,, obtain the following cabin acceleration/accel and the relational expression of motor torque by importing equation of motion.
α = 1 2 J / r + r ( m 1 + m 2 ) / 2 { r 2 ( m 1 - m 2 ) g + T m } - - - ( 1 )
It should be noted that in the structure of Fig. 3, the relational expression of cabin acceleration/accel and motor torque is expressed as expression formula (1), still,, just be not limited to this structure if both relations are the structures of recording and narrating with linear function.If the rotating speed of electrical motor and winch rotating speed equate that cabin speed is v, then can press following formula computing cabin speed from the rotating speed of electrical motor.
v＝rω(2)
Therefore, Fig. 2 can be to the relational expression conversion of motor torque and cabin speed.
It should be noted that, though the rotating speed of electrical motor and winch rotating speed equate that both relational expressions are if the conversion of describing with linear function just is not limited to described expression formula (2).For example, when using reductor, also can use the present invention.
In Fig. 4, higher level's velocity mode is for the torque mode of subordinate, is to be come by described expression formula (1) and its integrated value computing.In addition, in Fig. 4, t0-t7 represents that Δ t1-Δ t7 represents time interval constantly, and v0-v7 represents that to cabin speed constantly Tm0-Tm7 represents each motor torque constantly.At this, Tm0=Tm3=Tm4=Tm7=T M0, Tm1=Tm2=T M1, Tm5=Tm6=T M2In addition, V0=0, t0=0.
In Fig. 4, interval Δ t1, Δ t3, Δ t5, Δ t7 are the certain moving sections of cabin jerk value, and interval Δ t2, Δ t6 are certain the moving of acceleration/accel, and interval Δ t4 is the certain moving section of speed.In addition, α=described expression formula of 0 substitution (1), can press following formula (3) calculated equilibrium torque T M0
T M0＝-r(m 1-m 2)g/2 (3)
In Fig. 6, Δ l1-Δ l7 is respectively the cabin amount of movement between interval Δ t1-Δ t7.α 1, α 2 are respectively the absolute values of the cabin acceleration/accel among interval Δ t2, the Δ t6, use described expression formula (1) and T M0, T M1, T M2, calculate resembling among the figure.In addition, β 1-β 4 is respectively the absolute value of the cabin jerk of interval Δ t1, Δ t3, Δ t5, Δ t7, can use α 1, the α 2 of aforementioned calculation and Δ t1, Δ t3, Δ t5, Δ t7, calculates resembling among the figure.Can use α 1, α 2, β 1-β 4 and the Δ t1-Δ t7 of aforementioned calculation, resemble among the figure computation speed v0-v7.
And, can use v0-v7, α 1, α 2, β 1-β 4 and the Δ t1-Δ t7 of aforementioned calculation, calculate Δ 11-Δ 17 resembling among the figure.Therefore, can be time interval Δ t1-Δ t7 and motor torque T M0, T M1, T M2As parameter, record and narrate Δ l1-Δ l7.If the miles of relative movement in cabin is L, L=Δ l1+ Δ l2+ Δ l3+ Δ l4+ Δ l5+ Δ l6+ Δ l7 then.
Below, with reference to Fig. 5, Fig. 6, the operational method of the shortest time velocity mode among the embodiment 1 is described.In Fig. 5, stop according to by stopping layer the next time that stops 1 setting of layer set parts next time, setting the miles of relative movement L in cabin in the setting processing of layer in the next time of step 21.
Then, read in the processing, read the weight m1 of bob-weight, the radius r of winch 6, the moment of inertia J of winch, the value of gravity acceleration g in the parameter of step 22.
Then, in the cabin of step 23 load detection is handled, detect cabin weight m2 by cabin load detection parts 2.
Then, set in the processing, set the restriction condition of Fig. 6, wherein determine the higher limit of cabin maximum speed, the higher limit of cabin acceleration/accel, the higher limit of cabin, cabin jerk in the restriction condition of step 24.
Δt 1 > 0 , Δt 2 > 0 , . . . , Δt 7 > 0 v 0 = v 7 v 3 = v 4 ≤ v ‾ α 1 = α ‾ 1 α 2 = α ‾ 2 β 1 = β ‾ 1 β 2 = β ‾ 2 β 3 = β ‾ 3 β 4 = β ‾ 4 Δ l 1 + Δl 2 + Δl 3 + Δl 4 + Δl 5 + Δl 6 + Δl 7 = L ( v i , T mi ) ∈ Ω , i = 1,2 , . . . , 7 - - - ( 4 )
Promptly in restriction formula by expression formula (4) expression, specify v-, α 1-, α 2-, β 1-, β 2-, β 3-, β 4-(it should be noted that, in this manual, as seen from formula (4), on each symbol with-be for convenience, be illustrated in the top band thick stick of each symbol).
Then, find the solution in the processing in the optimization problem of step 25, according to the described expression formula (4) of controlled condition, the purpose function T of finding the solution by following formula (5) definition (time of run) is minimized optimization problem.This problem becomes Δ t1-Δ t7, T M0, T M1, T M2For nonlinearity in parameters plan problem, can numerically find the solution.
T＝Δt 1+Δt 2+Δt 3+Δt 4+Δt 5+Δt 6+Δt 7 (5)
Then, in the velocity mode generation of step 26 is handled, use the optimization problem of step 25 to find the solution Δ t1-Δ t7, the T that obtains in the processing M0, T M1, T M2With the v1-v6 among Fig. 6, by following formula (6), formation speed pattern v.
v = 1 / 2 β 1 t 2 t ∈ Δ t 1 v 1 + α 1 t t ∈ Δ t 2 v 2 + 1 / 2 β 2 t 2 t ∈ Δ t 3 v 3 t ∈ Δ t 4 v 4 - 1 / 2 β 3 t 2 t ∈ Δ t 5 v 5 - α 2 t t ∈ Δ t 6 v 6 - 1 / 2 β 4 t 2 t ∈ Δ t 7 - - - ( 6 )
But, t1=Δ, t2=t1+ Δ t2, t3=t2+ Δ t3, t4=t3+ Δ t4, t5=t4+ Δ t5, t6=t5+ Δ t6, t7=t6+ Δ t7.
According to above step,, generate the cabin velocity mode that arrives the earliest in the restriction condition according to load.
The restriction of relevant cabin speed has the effect of the maximum speed that can regulate elevator, and cabin speed can restrain within the required range, so can prevent that speed from excessively rising.And by v-being appointed as than also big by the cabin speed that described expression formula (2) derives by the maximum speed of electrical motor, just in the maximum speed of cabin, do not restrict, in the scope of motor characteristic, can generate the cabin velocity mode of the fastest arrival.
The restriction of relevant cabin acceleration/accel, higher limit set the little sensation of taking that can improve elevator.In addition, because suppress the generation torque of electrical motor,, can realize energy-conservation so can avoid the over-running of electrical motor, changer.Also has the heat-producing effect that reduces electrical motor, changer.The restriction of relevant cabin jerk can improve the sensation of taking of elevator by reducing higher limit, when the velocity mode with Fig. 4 moves, obtains to delay the effect of maximum speed.In addition, when the passenger does not take,, can improve the operating efficiency in cabin by increasing the higher limit of cabin acceleration/accel restriction and the restriction of cabin rate of acceleration change.In addition, when miles of relative movement in short-term, sometimes the higher limit of cabin acceleration/accel, cabin jerk set greatly than the higher limit of cabin maximum speed is set the more Zao arrival of conference.
The torque restriction condition has the effect in the actuation range that the velocity mode that makes Fig. 4 and torque mode converge on electrical motor.Connect upright inequality if the boundary portion of the approximate Ω of combination straight line, then torque restriction condition become, find the solution easily.
By selecting the torque mode of Fig. 4, only additional Tm1-Tm7 can make full-time the torque mode in the interval be converged in the actuation range of electrical motor as the torque restriction condition.In view of the above, can reduce calculated amount.
It should be noted that, in Fig. 4, time interval is divided into Δ t1-Δ t7, below by Fig. 4 has been set torque mode like that, but,, and become the torque mode of concave function from each time interval of torque mode that the deceleration that reduces speed now stops if selecting to become convex function at each time interval from beginning to accelerate to the torque mode that reaches maximum speed, then, can only use the torque restriction of the end points in time interval to estimate the torque restriction condition with above-mentioned same.
When cutting apart of change time interval was several, if above-mentioned velocity mode, if then satisfy the torque restriction of time interval end points, then the torque mode between the whole district was converged in the actuation range of electrical motor.At this moment, be transformed to the cabin acceleration model from torque mode after, can obtain cabin speed by to its integration.If each the peaked method that is limited in each time interval is used in cabin rate of acceleration change restriction, just can with described equally, as optimization problem and fixed patternization.At this moment, level and smooth by making torque mode, or increase the time interval number, and can generate more level and smooth velocity mode, improve and take sensation.
It should be noted that in the fixed patternization of optimization problem with when finding the solution, making known variables is torque and time interval, still, if the combination of the variable of unique decision velocity mode even then select other combinations, also has and described same effect.For example, select acceleration/accel and time interval as known variables, also can be and fixed patternization as optimization problem.At this moment, the restriction condition formula becomes and described equivalence.In addition, the purpose function does not change.
In addition, when descending in the cabin, the fixed patternization of the optimization problem that arrives about the shortest time also can be used and described same consideration method.
For load of a plurality of cabins and restriction condition, preliminary evaluation by the optimization problem of step 25 find the solution velocity mode that the velocity mode of processing, step 26 generate to handle calculates or with its cooresponding data, formization and preservation in the memory device that in velocity mode generates parts 3, is provided with, by reading, using, can realize and described same effect.At this moment, need not find the solution the computing of processing, so can realize with more cheap arithmetical device based on the optimization problem of step 25.
In Fig. 7, represented an example, the velocity mode that determines according to described step has been described.
In Fig. 7, higher level, middle rank, subordinate be respectively motor torque pattern, cabin velocity mode, Fig. 2 is transformed to the figure (the restriction line of torque) of motor torque and cabin speed by described expression formula (2).The motor torque pattern by the higher level of middle rank obtains.In addition, the curve shown in the hexagon in the torque characteristic figure of Fig. 7 subordinate is represented higher level's the torque mode and the direct motor drive track of the cabin velocity mode of middle rank.They represent 3 patterns, but expression has changed the ratio of weight m1 of cabin weight m2 and bob-weight respectively, according to present embodiment, obtains velocity mode.
At this moment, in cabin maximum speed, cabin jerk, acceleration/accel isotype, be certain higher limit (3 patterns are all identical).Wherein, relevant cabin maximum speed, also bigger by its higher limit is set at than the exportable rotating speed of electrical motor, but can in the electrical motor drive area, exhaust the big value of possibility.In addition, miles of relative movement also equates in all patterns.When the torque mode (velocity mode) of the shape that Fig. 4 is provided, the driving track of electrical motor becomes hexagon shown in the subordinate of Fig. 7.Illustrate that according to Fig. 8 these velocity modes satisfy the described expression formula (4) of restriction condition.
Fig. 8 is the figure that is used for the direct motor drive track of instruction diagram 7 subordinates.The direct motor drive track moves on hexagonal limit as shown in the figure in time together.Mark among the figure is corresponding with Fig. 4.Therefore, relevant cabin maximum speed becomes the speed on the point of v3 or v4.Relevant cabin acceleration/accel, the amount of representing with the arrow among the figure and the absolute value amount of cabin acceleration/accel are proportional.
In addition, the cabin jerk in relevant cabin, the slope absolute value amount and the cabin jerk time on the limit shown in the figure are inversely proportional to.In Fig. 7 subordinate, the driving track of all electrical motors is present in the motor torque restriction zone, so but in the drive area of electrical motor the formation speed pattern.Because v3 or v4 are present on the border in motor torque restriction zone, generate the pattern of maximum speed as much as possible of exporting.
The cabin jerk in relevant cabin acceleration/accel, cabin, the slope of whole velocity modes of Fig. 7 middle rank when quickening equate that the shape of quickening circle also equates, so the higher limit that is set restriction.In addition, Fig. 9 represents the diagram of curves of the velocity mode integration of Fig. 7 middle rank (cabin moving velocity).From this figure as can be known, relevant all patterns, miles of relative movement becomes the value of appointment.From as can be known above, in the restriction condition formula that satisfies described expression formula (4), acceleration/accel, cabin jerk converge in the higher limit, according to the cabin load, generate the velocity mode of the fastest arrival.
Embodiment 2
The invention of Miao Shuing in the present embodiment can be appended in any means of describing in the foregoing description 1.Figure 10 is the constructional drawing of the expression embodiment of the invention 2.Present embodiment newly is provided with electronic component temperature detection part 11, critical temperature set parts 12, temperature rising permissible value arithmetic unit 13 as the inscape temperature detection part in the structure of described embodiment 1 described Fig. 1.
In Figure 10, the temperature of electronic component that electronic component temperature detection part 11 is used to detect electronic machines such as changer or constitutes it for example has thermally dependent resistor equitemperature sensor.Critical temperature set parts 12 is used to set the higher limit or the lower limit of the temperature that guarantees described electronic machine normal operation.Temperature rising permissible value arithmetic unit 13 is used for by comparing temperature that is detected by electronic component temperature detection part 11 and the temperature of being set by critical temperature set parts 12, the temperature surplus of computing electronic machine.
Below, with reference to the flow chart of Figure 11, the operational method of the shortest time velocity mode of present embodiment is described.In Figure 11, the identical processing that the part of using the numbering identical with Fig. 5 to represent carries out that described embodiment 1 describes with Fig. 5.The operational method of the shortest time velocity mode of embodiment 2 has been considered the temperature ascending amount of electronic machine in the restriction condition of the operational method of described embodiment 1, have the destruction that the heat that prevents electronic machine causes.In embodiment 2, the temperature ascending amount of casehistory transducer element.
It is proportional that the time average (representing with Is) that the time integral value of absolute value amount of the current-mode of changer obtains divided by convergence time is flow through the time in the convergency value (representing with W) of the temperature ascending amount of changer and convergence.If promptly k is a constant of proportionality, then following formula (7) is set up.
W＝kI s (7)
In addition, by testing in advance etc., can know k.At this, described expression formula (7) means if (use T according to the time interval of 1 lifting that comprises the cabin IntExpression) current-mode that flows through changer in (is used i aThe time integral value of absolute value amount expression) is divided by T IntAnd the time average that obtains (is used I IntExpression) be the following restriction of Is, drive elevator, just can rise temperature is suppressed at below the W.It should be noted that I IntBy following expression formula (8) expression (for the purpose of simplifying the description, the integration time opening is 0).
I int = 1 T int ∫ 0 T int | i a | dt - - - ( 8 )
At this, from the current value of the revolution speed calculating changer of the torque instruction value of electrical motor and electrical motor.
Below, the operational method of velocity mode is described.As described described in the embodiment 1, time interval Δ t1-Δ t7 and motor torque T M0, T M1, T M2As parameter, expression α 1, α 2, β 1-β 4, v0-v7 and miles of relative movement L use them, the velocity mode v of the higher level by described expression formula (6) presentation graphs 4.In addition, Δ t1-Δ t7 and motor torque T M0, T M1, T M2As parameter, represented the torque mode Tm of this moment from Fig. 4 subordinate.At this moment, the current-mode ia that flows through changer is as the function of v and Tm and represent, so can be Δ t1-Δ t7, T M0, T M1, T M2Represent as parameter.
In Figure 11, stop that layer set to be handled, the parameter of step 22 is read processings, step 23 cabin load detection is handled the next time of step 21 and the generating the processing that processing carries out with velocity mode embodiment 1 is described as described of step 26, omitted explanation.
Then, in the temperature permissible value calculation process of step 31, temperature rising permissible value arithmetic unit 13 by Figure 10, get the changer temperature that detects by electronic component temperature detection part 11 and poor by the critical temperature of critical temperature set parts 12 predefined changers, the temperature surplus of computational transformation device.Represent the temperature surplus calculated by this step 31 with W-.
Then, set in the restriction condition of step 32 and to handle, same with described embodiment 1, specify and the cooresponding v-of restriction condition, the α 1-, α 2-, β 1-, β 2-, β 3-, β 4-and the time interval T that represent with described expression formula (4) Int
Then, find the solution in the processing, in described expression formula (4), append following formula (9) and find the solution the optimization problem of describing among the described embodiment 1 as the restriction condition formula in the optimization problem of step 33.And the purpose function is identical with above-mentioned formula (5).Expression formula (9) is the restriction condition formula of the temperature ascending amount of relevant transducer element, can be suppressed at the temperature ascending amount below the W-, and the result has the destruction of the changer that the heat of preventing causes.
kI int≤ W (9)
It should be noted that, in the present embodiment, in the restriction condition setting of step 32 is handled, specify T IntAfter, find the solution optimization problem, but do not specify it, also can find the solution as the function of Δ t1-Δ t7.For example, if application target function T and appropriate value Ts are T Int=T+Ts, then in each time gap Ts, temperature ascending amount restriction that just can be when driving elevator is at certain below the value.In view of the above, can consider permission pattern to various passenger's emergence patterns.
It should be noted that in synchronous motor, when not carrying out weak flux regulator, converter current and motor torque are proportional, so replace current value, by by the function restriction temperature ascending amount that has used torque value, also can obtain the effect same with present embodiment.And, because torque value and cabin acceleration/accel are proportional, so, also can obtain the effect same with present embodiment by by the function restriction temperature ascending amount that has used the cabin acceleration/accel.
In addition, because the integrated value of cabin acceleration/accel becomes cabin speed, so integrated value of the absolute value of cabin acceleration/accel, if when considering that the cabin is quickened and when deceleration then be 2 times of values of cabin maximum speed, so even also can obtain the effect same with present embodiment by utilizing the cabin maximum speed to measure the temperature ascending amount.
In addition,, then can carry out the fixed patternization same, obtain same effect with present embodiment if the temperature ascending amount of electronic machine is expressed as the function of the current value that flows through electronic machine.
Embodiment 3
In the present embodiment, invention described below can be appended in any means of describing in described embodiment 1 and 2.
The structure of the Fig. 1 that describes among the structure of present embodiment and the described embodiment 1 or Figure 10 of described embodiment is identical in fact, but as described later, it is different with Fig. 1 and Figure 10 to set the function that stops layer set parts 1 next time that stops layer next time.In addition, velocity mode generation parts 3 work as arithmetic processing apparatus.
Below, the Fig. 5 with reference to above-mentioned illustrates action.With the step identical, carry out the calculation process of various processes, but carry out based on stopping the establishing method that stops layer next time that layer sets in the step of handling 21 next time that stops layer set parts 1 next time different with described embodiment 1,2 with described embodiment 1,2.In this is handled, as stopping layer next time, set certain time interval the cabin on average stop layer.The back will be described the concrete method of calculating that this on average stops layer in detail.
In Fig. 5, carrying out parameter, to read step that the step 21-of processing carries out the step 26 that velocity mode generate to handle identical with described embodiment 1,2.In these calculation step, same with described embodiment 1,2, in the drive area by the electrical motor represented at Fig. 2, find the solution the minimized optimization problem time of advent, obtain maximum speed, acceleration/accel and cabin jerk, use them, the velocity mode that computing is represented with Fig. 4.
In the present embodiment, carrying out stopping next time layer, to set the step 21 handled different with described embodiment 1,2, it is characterized in that: the setting cabin on average stop layer.And, on average stop an example of the decision method of layer as this, there is following example.
With reference to Figure 12, an example of the decision method that on average stops layer being described.The mobile layer in the cabin that from the starting layer to the decision, stops layer in certain time interval that Figure 12 is an expression lifting route internal memory when n layers at most stop layer and the diagram of curves of its probability of occurrence.
At this, the probability of occurrence that moves of k layer is X (k), and the miles of relative movement of k layer is L (k).Use these statistics, suitably setting on average stops layer, makes the average shifting time in cabin become minimum.Set an example of example as this, can set the layer that on average stops in cabin as the following formula (10) that the expectation value of mobile layer is converted into distance etc.
Σ k = 1 n L ( k ) X ( k ) - - - ( 10 )
In addition, each starting layer is had the statistic of Figure 12, can on average stop layer for each starting layer is provided with by as mentioned above.
As a result, stopped next time layer be set on average stop layer above after, when having changed for the calling of the cabin after the mobile beginning in cabin when stopping next time layer, compare with previous methods, can shorten time of run.
In addition, stop layer next time and be fixed as a value, or each starting layer is fixed as a value,, only read just passable as parameter so when the starting of each elevator, need not computing stop layer next time.In view of the above, the calculation step of simplifying control setup Figure 13 can be resembled, operand can be reduced.
When by described method, obtain velocity mode according to each situation in advance, they are stored in the memory storage such as memory device, and read when using, to compare when using in the past gimmick, memory capacity reduces.In view of the above, can make control setup more cheap.
Embodiment 4
In the present embodiment, in the setting step that on average stops layer in described embodiment 3, in following step (1)-(3), the shifting time expectation value that stops layer to decision of each starting layer of having represented the cabin on average stops a layer calculation step for minimum.It should be noted that the cabin has the statistics of Figure 12 to miles of relative movement of each layer and its occurrence frequency.
Step (1): L (k), k=1 ..., n sets respectively and stops layer a next time, finds the solution optimization problem by the step with Fig. 5, calculates cabin velocity mode (cabin maximum speed, cabin acceleration/accel, cabin jerk).At this moment, suitably set in order to find the solution the value of optimization problem needed cabin load.For example, use the statistic that when starting, acts on the cabin load on the cabin, the aviation value during as mobile k layer, or as the aviation value of all when layer (move all).As a result, obtain n (cabin maximum speed, cabin acceleration/accel, cabin jerk) group.Be V (k) with L (k) cooresponding (cabin maximum speed, cabin acceleration/accel, cabin jerk) group.
Step (2): calculate the cabin shifting time expectation value T (V (j)) when having used V (j) for Figure 12 distribution.Can obtain it by following formula.But, when having used V (j), T L(V (j), L (k)) represents mobile L (k) required time.
T ( V ( j ) ) = Σ k = 1 n X ( k ) T L ( V ( j ) , L ( k ) ) - - - ( 11 )
Step (3): use the T (V (j)) of described expression formula (11) to become minimum j, decision L (j) is on average stopping layer.
It should be noted that, though probability X (k), k=1,2 shown in Figure 12 ..., n is replaced into continuous probability density function X (k), 0≤k≤n, also can carry out and described same discussion.
Below, the effect of present embodiment is described with reference to Figure 14.
Curve among the figure represents that respectively the elevator speed pattern of generation has the cabin to call out for using described embodiment 1 and present embodiment 4 on the way, the cabin velocity mode when layer on the way stops.A among the figure and B represent to use the cabin velocity mode of embodiment 4 and described embodiment 1,2 computings respectively.
In this Figure 14, in embodiment 1,2, set than on average stopping layer and stopped layer an also big next time, in view of the above, the computation speed pattern.In the embodiment shown in the B 1,2, represented to have reduced the cabin acceleration/accel in order to improve the upper limit of cabin maximum speed, but because there is the cabin to call out on the way, so the cabin maximum speed that can't raise speed, the just situation of slowing down.When using embodiment 4,,, stop layer next time and reduce with the difference that decision stops layer so compare with embodiment 1,2 because stop layer next time with on average stopping layer setting.
As a result, because can be with than the also high acceleration/accel of embodiment 1,2 and can arrive maximum speed, so can determine stop layer than embodiment 1,2 also Zao arrival.Shorter when on the contrary, when not having the cabin to call out or by the passenger, being provided with time of run when stopping the next time that on average stops below the layer layer on the way and being to use embodiment 1,2.In the present embodiment, use the cabin amount of movement, stop the startup frequency of layer and the statistic of cabin load for each decision, use the expectation value of cabin shifting time to become the minimum layer that on average stops, obtaining velocity mode, so can on average shorten passenger's shifting time.
Stop the probability distribution of layer according to decision, the summation of the time of run that shortens than embodiment 1,2 is also bigger than the summation that time of run increases, so use present embodiment to have more the good effect of operating efficiency.In addition, on average stop layer as stopping layer next time because use, so compare with embodiment 1,2, the extreme miles of relative movement change that causes is called out in the cabin of moving after beginning.Promptly reduced the frequency short miles of relative movement used based on the operational mode of the low acceleration of setting for long miles of relative movement, low cabin jerk and high maximum speed.In view of the above, reduce, can reduce the passenger's that it causes human discomfort for the skew of time of advent of identical miles of relative movement.
Embodiment 5
In the present embodiment, passenger such as when next needs each different time bands for when working, prepare the statistic of Figure 12 of using in the setting step that on average stops layer that a plurality of described embodiment 3 and 4 describe, use them, on average stop layer with what described method obtained that each time is with.And at cooresponding each band, what switch them on average stops layer time, is set on average to stop layer, calculates the cabin velocity mode.
In view of the above, actual passenger's needs have more correctly been reflected in order to obtain the statistic that on average stops layer and use.Therefore, setting on average stop the more approaching reality of layer on average stop layer, so can further improve operating efficiency.
Embodiment 6
In the present embodiment, as stopping layer next time, relatively for the miles of relative movement that on average stops layer in cabin and the miles of relative movement that stops the next time before the moving of cabin, to set layer by the passenger, the situation in the interval of passing through according to the cabin, set and stop layer, computing cabin velocity mode next time.
In view of the above, when than being set at and on average stopping layer, during the velocity mode of computing cabin during faster arrivals, can prevent that evening, arrival determined to stop layer owing to use and be set at and on average stop the cabin velocity mode that layer is obtained stopping layer next time stopping layer next time.For example, following situation is equivalent to this.
Stop layer the next time of before move in the cabin, setting than on average stopping layer hour by the passenger, again stopping layer the next time of setting by the passenger before stopping layer next time and being set at the cabin and moving, other the time, be set at and on average stop layer stopping layer next time.
In view of the above, can remove owing to using and on average stop a layer computing cabin velocity mode and become late situation, also improve operating efficiency, below its reason of explanation.
At first, relevant time of run is accompanied by miles of relative movement and shortens, and increased acceleration and cabin jerk are than increasing the more Zao arrival of maximum speed respectively.This is because if cabin miles of relative movement is short, and then at full throttle compare pick-up time and cabin jerk time time of operation is short.In addition, if with the such cabin velocity mode operation of Fig. 4, then to become Fig. 8 such for the movement locus of electrical motor.Therefore,, just require high torque (HT), become high torque (HT), as can be seen from Figure 2, can't increase maximum speed but be accompanied by in order to export high acceleration, high cabin jerk.
As mentioned above,, when obtaining the cabin velocity mode, compare when getting big value, obtain separating of high acceleration more, high cabin jerk, low maximum speed when getting the small value with the miles of relative movement in cabin when finding the solution optimization problem.If stopping layer and decision next time stops layer consistent, then the cabin arrives with the shortest time and determines to stop layer, so when the miles of relative movement in cabin on average stopping layer when following, be set at velocity mode when operation that on average stops layer when using stopping layer next time, when not having the cabin to call out in the operation way, time of run must increase.
When call out in the cabin, miles of relative movement shortens, so (set stop layer next time to such an extent that shortly obtain separating of low maximum speed, high acceleration, high cabin jerk because described reason, and be accompanied by miles of relative movement and shorten, increased acceleration and cabin jerk are than improving the more Zao arrival of maximum speed respectively), be not set at and on average stop layer, more early arrive when obtaining the cabin velocity mode stopping layer next time.In view of the above, when based on the miles of relative movement of before the moving of cabin, setting that stops layer next time than on average stopping layer when also little, be set at stopping layer more early to arrive and determining to stop layer of setting before the moving of cabin stopping layer next time again, the result has improved operational effect.
Embodiment 7
In the present embodiment, more on average stop layer and can stop layer, when in lifting travel, existing when walking rapidly the zone, when on average stopping layer and be set in the zone of walking rapidly, reset and stop layer next time, computing cabin velocity mode.For example, by following setting.The cabin stops layer the next time of the stopped layer of being set by the passenger when walking rapidly the zone before moving, and miles of relative movement thereunto is the miles of relative movement that on average stops layer when above, stopping layer to be reset to the end layer that walks rapidly between area region next time.
In view of the above, when the cabin when walking rapidly between area region, when moving average stops the above miles of relative movement of layer, be set at next time and stop layer on average stopping layer, calculating cabin velocity mode so prevented that late arrival from determining to stop layer, can suppress the increase of time of run.Its reason and described same.Promptly because set stop layer next time to such an extent that long obtain separating of high maximum speed, low acceleration/accel, low cabin jerk, and be accompanied by miles of relative movement and shorten, increased acceleration and cabin jerk are than improving the more Zao arrival of maximum speed respectively.
In addition, when not only having the zone of walking rapidly, before moving beginning, be predetermined decision and stopped layer, when not changing, stop layer next time and stop layer by making, be set at and on average stop the cabin velocity mode that layer is obtained stopping layer next time, can prevent late arrival by using for decision.
As mentioned above, according to the present invention, by the motor by the converter power supply, drive Have by rope and be connected in the elevator of hoist engine of the counterweight on the main cabin, comprising: institute The weight of stating the main cabin is as the cabin load and the cabin load detection parts of instrumentation; Set next stop-layer Next stop-layer set parts; According to the cabin load that is obtained by described cabin load detection parts and Next stop-layer by described next stop-layer set parts is set generates described main cabin described The permission of motor drives in the scope and arrives the cabin speed of next stop-layer with the shortest time The cabin velocity mode of pattern generates parts. Therefore, shorten passenger's traveling time, had the cabin The effect that improves of operational efficiency.
In addition, according to the present invention, at the motor by being powered by converter, driving has Be connected by rope in the elevator of hoist engine of the counterweight on the main cabin, comprise: described visitor The weight in cabin is as the cabin load and the cabin load detection parts of instrumentation; Set the lower of next stop-layer Inferior stop-layer set parts; The temperature of the inscape that consists of described converter is carried out instrumentation The inscape temperature detection part; Set temperature rise critical value critical of described inscape The Temperature Setting parts; According to the inscape temperature that obtains from described inscape temperature detection part Degree and the temperature rise critical value of setting with described critical-temperature set parts are come on the accounting temperature Rise the critical permissible value calculating unit of temperature rise of critical permissible value; According to described inscape The critical permissible value of temperature rise, the load of described cabin and described next stop-layer are at described motor The driving scope of permission in, and the temperature rise amount of the anticipation of described inscape is in temperature Rise in the critical permissible value, generate described main cabin arrives next stop-layer with the shortest time cabin The cabin velocity mode of velocity mode generates parts. Therefore, have and to prevent that temperature rise from causing The scope destroyed of the inscape of electronic instrument etc. in, shorten the effect of passenger's traveling time Really.
In addition, described velocity mode generates parts when generating the cabin velocity mode, determines the cabin At a high speed, the upper limit of the rate of change of cabin acceleration, cabin acceleration, can improve elevator so have The effect of taking sensation.
In addition, described cabin velocity mode generation parts handle and the cabin speed that offers described motor Degree drives the relevant motor torque waveform of instruction and is converted into the electric current that flows through described inscape Value, the bar that this current value waveform restricts according to the function by the critical permissible value of described temperature rise Part generates the cabin velocity mode, so rise from the current value predicted temperature that flows through inscape Amount has the scope that can destroy in the inscape that prevents electronic instrument that temperature rise causes etc. In, the effect of shortening passenger's traveling time.
In addition, described next stop-layer set parts is being used for generating described cabin velocity mode Next time, stop-layer was as according to the number of starts of elevator and the decision that stops from the cabin starting layer to next time So the average stop-layer in the cabin that the statistic of the displacement of stop-layer is obtained is need not be at electricity Set next stop-layer when each time of ladder started, therefore simplified calculation process, velocity mode Generate to process to accelerate, to next stop-layer after being set at more than the average stop-layer, when because of the cabin Mobile beginning after the cabin call out and when having changed next stop-layer, compare tool with previous methods The effect that can shorten running time is arranged.
In addition, described next stop-layer set parts the average stop-layer in described cabin as each The traveling time desired value to determining stop-layer of starting layer becomes minimum stop-layer and sets, So having on average, the next time of the traveling time shortening effect increase that can set the passenger stops The effect of layer.
In addition, described next stop-layer set parts is according to each different time of passenger's needs The statistic of decision stop-layer of band is set the average stop-layer in described cabin, so according to the passenger Need to set average stop-layer, the traveling time with passenger shortens the effect that effect further increases Really.
In addition, the described cabin velocity mode generation more described next stop-layer of parts and described cabin Average stop-layer, generate the cabin velocity mode, thus when and next stop-layer is set on average Compare when stop-layer and arithmetic speed pattern, exist to be used for the speed that computing more early arrives During the stop-layer of pattern, can be set at next stop-layer to this stop-layer, have the operation of improvement effect The effect of rate.
In addition, but described cabin velocity mode generates stop-layer and the institute that parts comparison cabin can stop Stating the average stop-layer in cabin and generate the cabin velocity mode, is not to stop so working as average stop-layer During layer, by using next stop-layer is set at the speed mould that average stop-layer carries out computing Formula is moved, and just can avoid running time slack-off, has the effect of improving operational efficiency.
Utilizability on the industry
In sum, according to the present invention, can provide according to load and displacement and change High-speed and acceleration, the elevator control gear that shortens the duration of runs.

Claims (10)

1. elevator control gear is characterized in that: have in the elevator of the winch that is connected the bob-weight on the main cabin by rope in driving, possess:
The cabin load detection parts of the cabin load in the described main cabin of instrumentation;
Set and stop a layer set parts next time that stops layer next time; With
Stop layer according to the cabin load that obtains by described cabin load detection parts with by stopping layer next time of set parts setting described next time, come described main cabin is arrived the next cabin velocity mode generation parts that cabin velocity mode layer, that shorten time of run carries out computing that stop.
2. elevator control gear according to claim 1 is characterized in that:
The shortening of time of run minimizes time of run.
3. elevator control gear according to claim 1 is characterized in that:
Described cabin velocity mode generates parts when the cabin velocity mode is carried out computing, the upper limit of decision cabin maximum speed, cabin acceleration/accel, cabin jerk.
4. elevator control gear according to claim 1 is characterized in that:
Stop a layer set parts described next time, being used on average stopping layer to what stop cabin that layer obtaining as the statistic that stops the miles of relative movement of layer according to the number of starts of elevator and the decision that stops from the cabin starting layer to next time the next time that described cabin velocity mode carries out computing.
5. elevator control gear according to claim 4 is characterized in that:
Stopping layer set parts described next time layer sets the layer that on average stops in described cabin for minimum stopping as the shifting time expectation value that stops layer to decision of each starting layer.
6. elevator control gear according to claim 4 is characterized in that:
What stop that statistic that layer set parts stop layer according to the decision of each different time band of passenger's needs sets described cabin described next time on average stops layer.
7. elevator control gear according to claim 4 is characterized in that:
The layer that on average stops that described cabin velocity mode generation parts stop layer and described cabin more described next time comes the cabin velocity mode is carried out computing.
8. elevator control gear according to claim 5 is characterized in that:
The stopped layer that described cabin velocity mode generation parts comparison cabin can stop and the layer that on average stops in described cabin come the cabin velocity mode is carried out computing.
9. elevator control gear according to claim 1 is characterized in that:
Described cabin velocity mode generates parts, as the cabin velocity mode, in cabin speed, cabin acceleration/accel or the cabin jerk at least one is carried out computing.
10. according to any 1 described elevator control gear among the claim 1-9, it is characterized in that: be provided with the table of putting down in writing the cabin load accordingly and stopping layer and velocity mode next time.
CNB028047338A 2001-12-10 2002-12-09 Elevator control apparatus Expired - Fee Related CN1302975C (en)

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