DE112015006635B4 - Elevator control apparatus and method for estimating the amount of expansion / contraction of the governor rope - Google Patents

Abstract

Elevator control device comprising an instantaneous position computer (21) which is designed to calculate a instantaneous position of a car on the basis of a count value of a speed controller encoder which is output according to the rotation of a speed controller around which a speed governor rope connected to the car is wound, the Current position calculator (21) is configured to: calculate an amount of movement of the car based on the count value of the speed controller encoder, the amount of movement being calculated for a period of time from when the car starts moving from a state in which a floor destination detector, which is located in the The car of the elevator is installed, detects one of the floor destination plates installed at corresponding floor positions of a building, and the car is stationary until the floor destination detector no longer detects the one of the floor destination plates; andestimating an amount of expansion and contraction of the governor rope from a floor from which the car begins to move, by estimating a counter error of the governor encoder caused by the expansion or contraction of the governor rope by comparing the calculated amount of movement with an actual length of the one the floor target location plates is compared.

Description

Technical area

The present invention relates to an elevator control apparatus and a method of estimating an amount of expansion and contraction of a governor rope for estimating an error of a governor encoder caused by expansion or contraction of a governor rope when the governor encoder is used to determine a position of a car.

Technical background

In Patent Literature 1, for example, a related art related to an elevator is disclosed. The prior art relating to the elevator has two governor speed detectors, and the position of a car is detected based on the detection values of these two governor speed detectors. Therefore, it is possible to accurately determine the position of the car even when a governor rope expands or contracts in an elevator associated with a long elevator shaft.

List of citations

Patent literature

[PTL 1] JP 2006 - 176 215 A

Summary presentation

Technical problem

However, the related art has the following problem.

The elevator disclosed in Patent Literature 1 requires two governor speed detectors. An additional governor speed detector is therefore necessary to take into account the expansion and contraction of a governor rope in a normal elevator.

JP 2005 - 126 185 A discloses a method for determining the position of an elevator car in order to be able to more precisely control a floor destination. U.S. 4,367,811 A discloses an elevator control system in which the position of the elevator car is obtained by counting pulses in relation to the distance traveled by the car and height data for the heights of the individual floors. EP 0 297 232 A1 discloses an actual value transmitter which has a pulse transmitter in the form of a digital tachometer driven via a cable and in which stopping errors in the elevator car caused by slippage of the cable can be avoided.

The present invention has been made to solve the above problem, and an object thereof is to provide an elevator control apparatus and a method for estimating an amount of expansion and contraction of a governor rope which are capable of estimating an error of a governor encoder which caused by an expansion or contraction of the governor rope without the need for an additional governor speed detector.

the solution of the problem

The problem is solved with an elevator control device and a method for estimating an amount of expansion and contraction of a speed governor rope according to independent claims 1 and 14.
According to one embodiment of the present invention, an elevator control device is provided, comprising an instantaneous position computer which is designed to calculate a current position of a car on the basis of a count value of a speed controller encoder that is output according to the rotation of the speed controller around the one with the car A connected speed governor rope is wound, the instantaneous position calculator being configured to: calculate an amount of movement of the car based on the count value of the speed governor encoder, the amount of movement being calculated for a period of time from when the car starts moving from a state where a floor destination detector (landing plate detector), which is installed in the elevator car, detects one of the landing plates that are installed at corresponding floor positions of a building, and the car is stationary until the impact building target location detector which no longer detects one of the floor target location plates; and estimating an amount of expansion and contraction of the governor rope from a floor from which the car begins to move by estimating a counter error of the governor encoder caused by the expansion or contraction of the governor rope by multiplying the calculated amount of movement with an actual length of the one of the floor target location plates is compared.

Furthermore, according to one embodiment of the present invention, a method for estimating an amount of expansion and contraction of a speed governor cable is disclosed, which is carried out by an instantaneous position computer, which is contained in an elevator control device, wherein the current position computer is configured to calculate a current position of a car based on a count value of a speed controller encoder, which is output according to a rotation of a speed controller around which a speed control cable connected to the car is wound, comprising the method : a moving amount calculating step of calculating a moving amount of the car based on the count value of the governor encoder, the moving amount being calculated for a period of time from when the car starts moving from a state where a floor destination detector installed in the car of the elevator one of the floor target plates installed at respective floor positions of a building is detected, and the car is stationary until the floor target detector no longer detects the one of the floor target plates; and an estimating step of estimating an amount of expansion and contraction of the governor rope from a floor from which the car starts to move by estimating a counter error of the governor encoder caused by the expansion or contraction of the governor rope by adding the calculated amount of movement with a actual length of the one of the floor target plates is compared.

Advantageous Effects of the Invention

According to the present invention, the structure allows the error of the governor encoder caused by expansion or contraction of the governor rope to be estimated in consideration of the length of the floor target plate detected by the floor target detector. As a result, it is possible to provide the elevator control apparatus and the method for estimating an amount of expansion and contraction of the governor rope which are capable of estimating the error of the governor encoder caused by the expansion or contraction of the governor rope without an additional one Speed governor speed detector to need.

Figure list

• 1 Fig. 13 is a configuration diagram of an elevator to which an elevator control device according to a first embodiment of the present invention is applied.
• 2 Fig. 13 is a configuration diagram of a current position calculator installed in the elevator control device according to the first embodiment of the present invention.
• 3 Fig. 13 is a configuration diagram of an estimator of the amount of expansion and contraction of the governor rope installed in the elevator control device according to the first embodiment of the present invention.
• 4th Fig. 13 is a configuration diagram of a car position calculator installed in the elevator control apparatus according to the first embodiment of the present invention.
• 5 Fig. 13 is a graph showing an amount of expansion and contraction of a governor rope estimated by the elevator control apparatus according to the first embodiment of the present invention.
• 6th Fig. 13 is a configuration diagram of an elevator to which an elevator control device according to a second embodiment of the present invention is applied.
• 7th Fig. 13 is a configuration diagram of a current position calculator installed in the elevator control device according to the second embodiment of the present invention.
• 8th Fig. 12 is a flowchart showing a series of adjustment processes to be performed by a adjustment calculator as the output of the estimator of the amount of expansion and contraction of the governor rope according to the second embodiment of the present invention.
• 9 Fig. 13 is a configuration diagram of an elevator to which an elevator control device according to a third embodiment of the present invention is applied.
• 10 Fig. 13 is a configuration diagram of a current position calculator installed in the elevator control device according to the third embodiment of the present invention.
• 11 Fig. 12 is a flowchart showing a series of adjustment processes to be performed by a adjustment calculator as the output of the estimator of the amount of expansion and contraction of the governor rope according to the third embodiment of the present invention.
• 12 Fig. 13 is a configuration diagram of an elevator to which an elevator control device according to a fourth embodiment of the present invention is applied.
• 13th FIG. 13 is an example of time series information on an amount of expansion and contraction of a speed governor rope during a period in which the elevator control apparatus according to the fourth Embodiment of the present invention applies to a floor target location.
• 14th Fig. 13 is a configuration diagram of an elevator to which an elevator control device according to a fifth embodiment of the present invention is applied.
• 15th Fig. 13 is a configuration diagram of an elevator to which an elevator control device according to a sixth embodiment of the present invention is applied.

Description of the embodiments

An elevator control device according to exemplary embodiments of the present invention will now be described with reference to the drawings. In the drawings, the same or corresponding elements are denoted by the same reference numerals. A corresponding redundant description is correspondingly simplified or omitted.

First embodiment

1 Fig. 13 is a configuration diagram of an elevator to which an elevator control device according to a first embodiment of the present invention is applied. In 1 is an elevator shaft 1 formed across the floors of a building (not shown). One engine 2 is on an upper side of the elevator shaft 1 arranged. A pulley 3 is on an upper side of the elevator shaft 1 arranged and is connected to a rotating shaft of the motor 2 firmly connected. A main rope 4th is around the pulley 3 wrapped.

One cabin 5 is in the elevator shaft 1 arranged and is at one end of the main rope 4th hung up. At the same time is a counterweight 6th in the elevator shaft 1 arranged and is at the other end of the main rope 4th hung up.

A speed controller 7th is on an upper side of the elevator shaft 1 arranged. A speed governor rope 8th is about the speed controller 7th wrapped and with the cabin 5 connected.

A variety of door zone panels 9 is arranged as the first floor target location plates at positions coincident with the door zones of corresponding floors within the elevator shaft 1 correspond. A variety of new level zone plates 10 are arranged as second floor target point plates at positions that correspond to new level zones (re-level zones) of corresponding floors within the elevator shaft 1 correspond. The length of the new level zone plate 10 is shorter than the length of the door zone plate in a vertical direction 9 in the vertical direction.

A weight determination device 11 is in the cabin 5 arranged so as to be able to obtain a weight value of a load within the car 5 to determine. A door zone plate detector 12 is in the cabin 5 installed as a first floor target plate detector. The door zone plate detector 12 the door zone plate is designed for this 9 to detect when the door zone plate detector 12 at the same height as the door zone plate 9 and transmits a door zone signal when the door zone plate 9 is detected.

A new level zone plate detector 13th is in the cabin 5 installed as a second story target plate detector. The New Level Zone Plate Detector 13th is designed for this, the new level zone plate 10 to detect when the new level zone plate detector 13th is at the same height as the new level zone plate 10 , and to transmit a new level zone signal when the new level zone plate 10 is detected.

An engine speed detector 14th is with the engine 2 connected and arranged to generate a motor encoder counter signal according to the number of revolutions of the motor 2 transferred to. A governor speed detector 15th is with the speed controller 7th connected and arranged to generate a speed controller encoder counter signal according to the number of revolutions of the speed controller 7th transferred to.

A control device 16 has a control circuit 17th on, a speed control 18th and a main control unit 19th . The main control unit 19th has an operation command calculator 20th , a current position calculator 21st and a speed command calculator 22nd on.

The operating command calculator 20th is designed to calculate an operating command for an elevator and to transmit the calculated operating command.

The current position calculator 21st is configured to receive the governor encoder counter signal from the governor speed detector 15th to obtain. Furthermore, the current position computer is 21st designed to receive the door zone signal from the door zone plate detector 12 to recieve. Furthermore, the current position computer is 21st designed to receive the re-level zone signal from the re-level zone plate detector 13th to obtain.

The current position calculator 21st then calculates the current position of the car 5 based on the speed controller encoder counter signal, the door zone signal, the new level zone signal, the starting floor information, the Destination floor information, an acceleration / deceleration pattern and a start / stop signal.

The speed command calculator 22nd is adapted to receive the motor encoder counter signal from the motor speed detector 14th to obtain. Further is the speed command calculator 22nd designed to receive the door zone signal from the door zone plate detector 12 to obtain. Further is the speed command calculator 22nd designed to receive the re-level zone signal from the re-level zone plate detector 13th to recieve. Further is the speed command calculator 22nd designed to receive the operation command from the operation command calculator 20th to recieve. Further is the speed command calculator 22nd designed to provide a signal related to the current position of the car 5 from the current position computer 21st to recieve.

The speed command calculator 22nd then calculates a speed command value based on the governor encoder counter signal, the door zone signal, the new level zone signal, the operation command, and the signal related to the current position of the car 5 relates. The speed command computer also transmits 22nd the start floor information, the destination floor information, the acceleration / deceleration pattern and the start / stop signal to the current position computer 21st . The speed command computer also transmits 22nd the speed command value to the speed controller 18th .

The speed control 18th is designed for the control circuit 17th based on the speed command value. The control circuit 17th is trained to use the engine 2 based on the speed command value. The pulley 3 rotates synchronously with the drive of the motor 2 . The main rope 4th moves synchronously with the rotation of the pulley 3 . The cabin 5 and the counterweight 6th raise / lower at a desired speed in synchronism with the movement of the main rope 4th along a guide rail (not shown).

Next is a detailed description of the operation of the current position calculator 21st referring to 2 given. 2 is a construction diagram of the current position calculator 21st arranged in the elevator control device according to the first embodiment of the present invention. The current position calculator 21st assigns an estimator 23 for the amount of expansion and contraction of the speed governor rope, a memory 24 for the amount of expansion and contraction of the speed governor rope and a car position calculator 25th on.

The appraiser 23 for the amount of expansion and contraction of the speed governor rope is designed for an amount of expansion and contraction of the speed governor rope 8th with reference to the floor on which the cabin is located 5 is estimated based on the speed controller encoder counter signal, the door zone signal, the new level zone signal, and the start / stop signal. The amount of expansion and contraction of the governor rope 8th corresponds to an error in the speed controller encoder caused by the expansion or contraction of the speed controller cable 8th is caused, namely an error in the position of the car 5 .

The memory 24 for the amount of expansion and contraction of the governor rope according to the first embodiment has a memory function and a processing function. Instead, the memory 24 be designed for the amount of expansion and contraction of the speed control cable, that it only has the memory function, and that a peripheral device transfers the data from / to the memory 24 reads / writes for the amount of expansion and contraction of the governor rope.

The memory 24 for the amount of expansion and contraction of the speed governor rope then stores an estimate of the amount of expansion and contraction of the speed governor rope 8th that of the appraiser 23 was estimated for the amount of expansion and contraction of the governor rope than the amount of expansion and contraction of the governor rope 8th at each floor in connection with the starting floor information.

Regarding a floor at which the amount of expansion and contraction of the governor rope 8th is not estimated, the memory stores 24 for the amount of expansion and contraction of the speed governor rope information regarding the amount of expansion and contraction of the speed governor rope 8th obtained by interpolation based on information on a plurality of floors for which the amount of expansion and contraction of the governor rope 8th is estimated in conjunction with the floor information.

The memory 24 for the amount of expansion and contraction of the speed governor rope is designed to provide the information regarding the amount of expansion and contraction of the speed governor rope 8th in connection with the floor to update and store the information every time the estimator 23 for the amount of expansion and contraction of the governor rope, the amount of expansion and contraction of the governor rope 8th appreciates.

The memory 24 for the amount of expansion and contraction of the speed governor rope then transmits information relating to the amount of expansion and contraction of the speed governor rope 8th in connection with the floor corresponding to the destination floor information of the car 5 . Furthermore, the memory arranges 24 for the amount of expansion and contraction of the governor rope, the estimated value of the amount of expansion and contraction of the governor rope 8th that of the appraiser 23 for the amount of expansion and contraction of the governor rope has been estimated, the information related to the floor in response to an outside command and transmits these pieces of associated information.

The car position computer 25th is designed for the current position of the cabin 5 to be calculated based on the speed controller encoder counter signal, the door zone signal, the new level zone signal, the acceleration / deceleration pattern, and the estimate of the amount of expansion and contraction of the speed controller cable 8th in connection with the floor corresponding to the destination floor information from the car 5 .

Next is a detailed description of the function of the estimator 23 for the amount of expansion and contraction of the governor rope with reference to 3 given. 3 is a construction diagram of the estimator 23 for the amount of expansion and contraction of the governor rope arranged in the elevator control device according to the first embodiment of the present invention.

The appraiser 23 for the amount of expansion and contraction of the governor rope has a door zone plate length memory 26th on, a new level zone disk length store 27 , a first memory 28 , a second memory 29 , a third memory 30th and a selector 31 on.

The door zone plate length memory 26th is designed to provide information regarding the length of the door zone plate 9 which is a fixed value. At the same time, the new level zone is disk length memory 27 designed to receive the information regarding the length of the new level zone plate 10 which is a fixed value.

The first store 28 is configured to store, based on the start / stop signal, information relating to the value of the governor encoder counter signal at the time when the car 5 starts from an Nth floor (N is an integer). The second store 29 is adapted to store, based on the new level zone signal, information relating to the value of the governor encoder counter signal of the Nth floor at the time when the car 5 drives off from the Nth floor to leave the new level zone of the Nth floor. The third store 30th is configured to store, based on the door zone signal, information relating to a value of a speed controller encoder counter signal of the N-th floor at the time when the car 5 continues to move to exit the Nth floor door zone.

The picker 31 is designed to provide an estimate of the amount of expansion and contraction of the speed governor cable 8th select from a plurality of estimates obtained from parts of the information stored in the door zone plate length memory 26th , the New Level Zone Disk Length Storage 27 , the first memory 28 , the second memory 29 and the third memory 30th are stored. The selector also transmits 31 the selected estimate as the estimate of the amount of expansion and contraction of the governor rope 8th at the starting floor.

• Z1: 1/2 der Länge der Neu-Niveau-Zonenplatte 10
• Z2: 1/2 der Länge der Türzonenplatte 9
• C1: Wert des Drehzahlreglercodiererzählersignals, gespeichert im ersten Speicher28
• C2: Wert des Drehzahlreglercodiererzählersignals, gespeichert im zweiten Speicher29
• C3: Wert des Drehzahlreglercodiererzählersignals, gespeichert im dritten Speicher 30

Values are defined by the following reference numerals for describing the method of calculating the estimated value.

• Z1: 1/2 the length of the new level zone plate 10
• Z2: 1/2 the length of the door zone plate 9
• C1: value of the speed controller encoder counter signal, stored in the first memory 28
• C2: Value of the speed controller encoder counter signal, stored in the second memory29
• C3: Value of the speed controller encoder counter signal, stored in the third memory 30

For example, the selector chooses 31 an estimate A for the amount of expansion and contraction of the governor rope 8th given by the following equation (1). $$\text{Sch}\ddot{\text{a}}\text{tzwert A}\left(\text{N}\right)=\text{Z}1-\left(\text{C.}2-\text{C.}1\right)$$

For example, the selector chooses 31 an estimate B for the amount of expansion and Contraction of the governor rope 8th given by the following equation (2). $$\text{Sch}\ddot{\text{a}}\text{tzwert B}\left(\text{N}\right)=\text{Z2}-\left(\text{C3}-\text{C1}\right)$$

For example, the selector chooses 31 an estimate C for the amount of expansion and contraction of the speed governor cable 8th given by the following equation (3).

$$\text{Sch}\ddot{\text{a}}\text{tzwert C}\left(\text{N}\right)=\left(\text{Z}2-\text{Z}1\right)-\left(\text{C3}-\text{C2}\right)$$

In order to eliminate an influence caused by a difference in the stop position of the car when the estimated value A (N), the estimated value B (N) and the estimated value C (N) are calculated, there is provided a process to perform the calculation of these estimated values after the error related to the floor target location (error related to the floor target location) of the car position has been substantially corrected to zero.

Further, when the estimated value A (N), the estimated value B (N) and the estimated value C (N) differ from each other more by a certain allowable value therebetween, when the car is different 5 lifts and when the cabin 5 lowers, it is intended to calculate these estimated values differently for when the cabin 5 lifts and when the cabin 5 lowers, and these estimated values in the first memory 28 , the second memory 29 and the third memory 30th store separately for when the cabin 5 lifts and when the cabin 5 lowers.

Next is a detailed description of the function of the car position calculator 25th with reference to 4th given. 4th Fig. 13 is a construction diagram of the car position calculator 25th arranged in the elevator control device according to the first embodiment of the present invention.

The car position computer 25th who is in 4th has an integrator 32 and a corrector 33 for the amount of expansion and contraction of the governor rope. The corrector also has 33 a correction value calculator for the amount of expansion and contraction of the speed control cable 34 and a switch 35 on.

The integrator 32 is configured to integrate the value from the speed controller encoder counter signal to provide a temporary position of the car 5 to calculate.

The corrector 33 for the amount of expansion and contraction of the speed governor rope is designed for the amount of expansion and contraction of the speed governor rope 8th using the estimate of the amount of expansion and contraction of the governor rope 8th Correct in accordance with the target floor that you get from memory 24 for the amount of expansion and contraction of the speed control cable, the door zone signal for the destination floor, the new level zone signal for the destination floor and a delay pattern signal.

In particular, the correction value calculator calculates 34 of the corrector 33 for the amount of expansion and contraction of the speed governor rope, a correction value for the amount of expansion and contraction of the speed governor rope 8th using, for example, the estimate of the amount of expansion and contraction of the governor rope 8th corresponding to the destination floor, a delay timing indicated by the delay pattern signal, a timing indicated by the new level zone signal of the destination floor, and a timing indicated by the door zone signal of the destination floor.

Furthermore, the switch 35 switched to stop that correction value calculator 34 a correction value for the amount of expansion and contraction of the speed governor cable 8th transmits when a delay pattern signal is not received. At the same time the switch 35 switched it to the correction value calculator 34 to allow a correction value for an amount of expansion and contraction of the speed governor rope 8th to be transmitted when a delay pattern signal is received.

At this point the current position of the car becomes 5 calculated by taking the correction value for the amount of expansion and contraction of the speed governor rope 8th one from the corrector 33 for the amount of expansion and contraction of the governor rope obtained from the value of the temporary position of the car 5 subtracts that from the integrator 32 is transmitted.

Next, a description will be given of the estimated value of the amount of expansion and contraction of the governor rope 8th with reference to 5 given. 5 Fig. 13 is a graph showing the amount of expansion and contraction of the governor rope as estimated by the elevator control apparatus according to the first embodiment of the present invention. The horizontal axis off 5 represents a ratio (%) of a distance from the lowest floor to the total height of the elevator shaft of the car 5 . Furthermore, the vertical axis represents 5 the estimated value (mm) of the amount of expansion and contraction of the governor rope 8th that is in store 24 is stored for the amount of expansion and contraction of the speed governor rope.

As in 5 is shown when the ratio of the distance from the lowest floor to the total height of the elevator shaft of the car 5 is less, is the estimate for the amount of expansion and contraction of the governor rope 8th that is in the store 24 is stored for the amount of expansion and contraction of the speed governor rope is greater. That is, if the cabin 5 approaching the lowest floor is the amount of expansion and contraction of the governor rope 8th greater.

As explained above, the elevator control device according to the first embodiment is adapted to estimate the error of the speed governor encoder caused by the expansion or contraction of the speed governor rope with respect to the floor on which the car is located 5 is stopped at the time of the start of movement in consideration of the length of the floor target location plate detected by the new level zone plate detector or the door zone plate detector at the time of start of movement. It is therefore possible to estimate the governor encoder error caused by the expansion and contraction of the governor rope without the need for an additional governor speed detector.

As a result, it is possible even if the governor rope is up 8th due to the rope characteristics, when the car of an elevator accelerates or decelerates the position of the car in a long elevator shaft, for example from a high-rise building 5 to capture accurately.

Furthermore, the elevator control device according to the first embodiment is designed to correct the position of the car using the already calculated estimated value of the error of the speed controller encoder, which is caused by the expansion or contraction of the speed controller rope when the door zone plate detector changes from the state of non-detection Floor target location plate changes to the state of detecting the floor target location plate during the deceleration of the car to stop at the target floor. It is therefore possible to accurately grasp the position of the car even if the car decelerates to dock. As a result, it is possible to suppress the error on the floor destination of the car and suppress vibration of the car at the time of donning, thereby improving the comfort of driving the car.

Furthermore, the elevator control device according to the first embodiment is designed to store the information relating to the error of the speed regulator encoder, which is caused by the expansion or contraction of the speed regulator rope, and the floor information in association with one another. It is therefore possible to accurately grasp the position of the car according to the position of each floor.

Furthermore, with respect to a floor in which the error of the speed governor encoder caused by the expansion or contraction of the speed governor rope is not estimated, the elevator control device according to the first embodiment is designed to receive the information regarding the error of the speed governor encoder caused by the expansion or contraction of the speed governor rope Contraction of the governor rope estimated by interpolation based on information on a plurality of floors for which the errors of the governor encoder caused by the expansion or contraction of the governor rope are estimated in connection with the information on the floor to save. It is therefore possible to accurately grasp the position of the car even for a floor where the car is docked for the first time.

Furthermore, the elevator control device according to the first embodiment is designed to update the information regarding the error of the speed regulator encoder, which is caused by the expansion or contraction of the speed regulator rope, corresponding to the floor and to store the information every time the estimator for the amount the expansion and contraction of the governor rope estimates the error of the governor encoder caused by the expansion or contraction of the governor rope. It is therefore possible to take into account a change over time in the characteristics of the speed governor cable with regard to expansion and contraction.

Furthermore, the elevator control device according to the first embodiment is designed to associate the information relating to the error of the speed governor encoder, which is caused by the expansion or contraction of the speed governor rope, which is caused by the estimator of the amount of expansion and contraction of the speed governor rope, together with the information regarding the floor, and to transmit these pieces of information to the outside. Therefore, it is possible to effectively use the information on the failure of the governor encoder caused by the expansion or contraction of the governor rope, for example, at the time of maintenance work on the elevator.

Second embodiment

In a second embodiment of the present invention, a method is described for dealing with the case where a detection error is caused due to a dynamic characteristic of a speed control mechanism, which is determined by the estimator 23 the amount of expansion and contraction of the speed control cable in the instantaneous position computer 21st of the elevator control device according to the first embodiment.

6th Fig. 13 is a configuration diagram of an elevator to which an elevator control device according to the second embodiment of the present invention is applied. The structure from 6th in the second embodiment is the same as in 1 with the first embodiment with the exception of some additional or changed elements. Therefore, the same elements will not be described in detail, and the following description essentially relates to an adaptation calculator 50 which is new.

The adjustment calculator 50 is adapted to receive an adjustment process start signal from the operation command computer 20th to be received to detect the fact that an adjustment process is to be performed. The adjustment calculator also receives 50 floor destination error measurement information based on the current position of the car at the destination floor after the adjustment process is performed by a process of inputting the measurement result by maintenance personnel. The adjustment calculator 50 then performs a calculation to adjust the output of the estimator 23 for the amount of expansion and contraction of the governor rope based on the floor destination error measurement information, and transmits a gain command signal to the instantaneous position calculator 21st .

Next is a detailed description of the operation of the current position calculator 21st according to the second embodiment with reference to FIG 7th given. 7th is a construction diagram of the current position calculator 21st arranged in the elevator control apparatus according to the second embodiment of the present invention.

The current position calculator 21st has a basic structure similar to that of the instantaneous position computer 21st the first embodiment shown in 2 is shown. Therefore, the same elements will not be described in detail, and the following description will be mainly of a gain corrector in terms of a gain corrector 40 made, which is new.

The gain corrector 40 is between the estimator 23 for the amount of expansion and contraction of the governor rope and the memory 24 inserted for the amount of expansion and contraction of the governor rope. The gain corrector 40 is configured to receive a transmission signal from the estimator 23 for the amount of expansion and contraction of the speed control cable and a transmission signal from the adaptation computer 50 to receive and a signal with a corrected gain factor to the memory 24 for the amount of expansion and contraction of the speed governor rope.

The information output from the estimator 23 for the amount of expansion and contraction of the speed governor rope contains starting floor information and estimated value information for the amount of expansion and contraction of the speed governor rope. The gain corrector 40 of these two pieces of information does not process the starting floor information and only processes the estimated value information for the amount of expansion and contraction of the speed control cable based on the transmission information from the adaptation computer 50 .

In particular, the gain corrector multiplies 40 the estimated value information for the amount of expansion and contraction of the speed control cable with the gain factor of the gain factor command signal obtained from the adaptation computer 50 receives and transfers the multiplication result to memory 24 for the amount of expansion and contraction of the governor rope.

8th Fig. 3 is a flow chart showing a series of customization operations performed by the customization calculator 50 should be executed for the output of the estimator 23 for the amount of expansion and contraction of the governor rope in the second embodiment of the present invention. The adjustment processes in the second embodiment are performed according to the following procedure.

First the adjustment calculator performs 50 in step S801 when the adjustment calculator 50 an adjustment process start signal from the operation command calculator 20th is initially set by setting gain information, which is a gain command signal, to 1 before performing the matching process. Next, get in step S802 the adjustment calculator 50 the floor target location failure measurement information inputted by the maintenance personnel based on the measurement result after the control device 16 performs an operation to adjust the elevator.

In particular, the above-described procedure for adjusting the elevator in FIG done in the following way. First, the control device 16 sets a floor as the start floor to be adjusted and a predetermined floor as the destination floor and moves the car 5 . The gain corrector 40 receives an estimate of the amount of expansion and contraction of the speed control cable from the starting floor, which is from the estimator 23 for the amount of expansion and contraction of the speed governor rope is estimated by the movement process and transmits the estimated value for the amount of expansion and contraction of the speed governor rope to the memory 24 for the amount of expansion and contraction of the governor rope.

Next, the control device 16 introduces the floor to be adjusted as the target floor, performs a moving operation that is corrected using the estimated value, and causes the maintenance personnel to measure the error measurement information on the floor target location after the car 5 returns to the floor to be adjusted. This concludes the description of the customization process.

Next determined in step S803 the adjustment calculator 50 whether or not the error measurement information obtained with regard to the floor target point falls within an evaluation reference range. Then, when the floor target location error measurement information falls within the evaluation reference range, the matching computer runs 50 with the step S804 continues to hold the current gain information and completes a series of processing.

In contrast to this, when the error measurement information relating to the floor target point does not fall within the evaluation reference range, the adaptation computer runs 50 with the step S805 continues to determine whether the error measurement information regarding the floor target location exceeds the evaluation reference range or whether the error measurement information regarding the floor target location falls within the evaluation reference range.

Then when the adjustment calculator 50 determines that the error measurement information relating to the floor target point exceeds the evaluation reference range, the adaptation computer runs 50 with the step S806 to increase the gain factor from the currently set value by a predetermined amount and then return to step S802 back.

On the other hand, if the adjustment calculator 50 determines that the error measurement information relating to the floor target point falls below the evaluation reference range, the adaptation computer moves 50 with the step S807 to decrease the gain from the currently set value by a preset value and return to step S802 back.

Then when the adjustment calculator 50 to step S802 about the crotch S806 or step S807 returns, uses the control device 16 a new updated gain to perform the operation to adjust the elevator again. Then the control device resets 16 the series of processing continues until the error measurement information relating to the floor target location obtained after the matching operation falls within the evaluation reference range.

With the series of processing according to 8th it is possible to correct the estimated value for the amount of expansion and contraction of the speed governor cable obtained by the estimator 23 is estimated for the amount of expansion and contraction of the speed governor rope, which is designed to determine an amount of expansion and contraction of the speed governor rope, and to obtain a suitable gain factor with its error with respect to the floor target point, which falls within the evaluation reference range. As a result, it is possible to implement an elevator control device that can reduce the detection error due to the dynamic characteristic of the speed governing mechanism.

As above with the first embodiment with reference to FIG 5 described, the amount of expansion and contraction of the speed governor rope changes 8th regarding the floors. Therefore, the correction value must also be changed depending on a change in the amount of expansion and contraction for each floor.

A method of adding the error related to the floor target location for each floor for the estimate of the amount of expansion and contraction of the speed governor rope as a correction value is also provided. However, the correction value changes for each floor and therefore this method needs a certain time for the adjustment because the correction value has to be obtained in connection with each floor.

In contrast, the correction technique in the second embodiment of the present invention corrects the estimated value for the amount of expansion and contraction of the speed governor rope using the gain with the error related to the floor target location set as a parameter. A common gain factor can therefore be used to deal with the change in the correction value for each floor, which means that it there is no need for adjustment for each floor.

As described above, the elevator control device according to the second embodiment is adapted to calculate the gain for correcting the estimated value for the amount of expansion and contraction of the governor rope even if the detection error is caused by the dynamic characteristic of the governor mechanism. As a result, it is possible to correct the detection error based on the dynamic characteristic and adjust the error with respect to the floor target point to an appropriate value that falls within the evaluation reference range.

Third embodiment

In the second embodiment, at the time of processing the adjustment of the gain, a predetermined increase amount is added to the error measurement information on the floor target location when the error measurement information on the floor target location exceeds the evaluation reference range, whereas a predetermined decrease amount is subtracted from the error measurement information on the floor target location when the error measurement information is applied falls under the evaluation reference range with respect to the floor target point.

In such an adjustment process, if the predetermined increase amount and decrease amount are not appropriate values, there is a concern that the error measurement information on the floor target location will not converge quickly. For example, there is a problem that if the increase amount and the decrease amount are smaller than the appropriate values, the attempt must be made several times until the error on the floor target point converges in the evaluation reference range. On the other hand, when the increase amount and the decrease amount are larger than the appropriate values, there is a problem that the error on the floor target point diverges without converging in the evaluation reference area.

In view of the above, according to a third embodiment of the present invention, a method of performing correction processing for the detection error of the estimator 23 made for the amount of expansion and contraction of the governor rope, which is faster and more stable as compared with the correction processing of the second embodiment.

9 Fig. 13 is a configuration diagram of an elevator to which an elevator control device according to the third embodiment of the present invention is applied. Furthermore is 10 a structure diagram of the instantaneous position computer 21st arranged in the elevator control apparatus according to the third embodiment of the present invention. The structure of 9 the third embodiment is the same as that of the off 6th according to the second embodiment with the exception of some additional or changed elements. Therefore, the same elements are not described in detail, and the following description mainly relates to the correction processing that is newly added.

Compared to the adjustment calculator 50 according to the second embodiment, the adaptation calculator has 50 According to the third embodiment, the function that it also receives the estimated value for the amount of expansion and contraction of the speed control cable from the starting floor from the instantaneous position computer 21st receives, calculates the gain, and sends the gain command signal to the instantaneous position calculator 21st transmits.

As to the description of the processing of the gain adjustment performed by the adjustment calculator 50 is carried out, the error measurement information relating to the floor target point is represented by a signal A and the estimated value for the amount of expansion and contraction of the speed control cable from the starting floor is represented by a signal B in relation to two pieces of information received by the adaptation computer 50 be received.

11 Fig. 16 is a flow chart for explaining a series of adjustment processes performed by the adjustment calculator 50 should be executed for the output of the estimator 23 for the amount of expansion and contraction of the governor rope in the third embodiment of the present invention. step S801 up step S804 out 11 are similar to those from 8th in the second embodiment. The adjustment process in the third embodiment is performed according to the following procedure.

First the adjustment calculator performs 50 in step S801 when the adjustment calculator 50 an adjustment process start signal from the operation command calculator 20th is initially set by setting gain information, which is a gain command signal, to 1 before performing the matching process. Next, get in step S802 the adjustment calculator 50 the error measurement information on the floor target location error measurement information obtained by maintenance personnel based on the measurement result is input as signal A after the control device 16 performs an operation to adjust the elevator.

In particular, the above-described operation for adjusting the elevator is carried out in the following manner. First, the control device 16 sets a floor as the start floor to be adjusted and a predetermined floor as the destination floor and moves the car 5 . The gain corrector 40 then receives an estimated value for the amount of expansion and contraction of the speed governor rope from the starting floor, from the estimator 23 for the amount of expansion and contraction of the speed control cable is estimated as signal B by the movement process and transmits signal B to the adaptation computer 50 and to the memory 24 for the amount of expansion and contraction of the governor rope.

Next, the control device 16 introduces the floor to be adjusted as the target floor, performs a moving operation that is corrected using the estimated value, and causes the maintenance personnel to measure the signal A which is the floor target location error measurement information after causing the car 5 returns to the floor to be adjusted.

Next determined in step S803 the adjustment calculator 50 whether or not the signal A, which is the floor target failure measurement information, falls within an evaluation reference range. Then, when the floor target location error measurement information falls within the evaluation reference range, the matching computer runs 50 with the step S804 continues to hold the current gain information and completes a series of processing.

On the other hand, if the signal A, which is error measurement information relating to the floor target point, does not fall within the evaluation reference range, the adaptation computer runs 50 with the step S1101 to obtain the estimate of the amount of expansion and contraction of the speed governor rope from the starting floor as the signal B. Then the adjustment calculator determines 50 in step S1102 the amplification factor of signal B, which is the estimated value for the amount of expansion and contraction of the speed governor rope from the starting floor, based on two signals, namely signal A and signal B.

Thus, the gain is defined as a function F with the signal A and the signal B as parameters and is represented by the following equation (4). $$\text{Ampl}\ddot{\text{a}}\text{effect factor = F}\left(\text{Signal A}\text{, Signal B}\right)$$

The function F for determining the gain command signal can be set, for example, as follows. The gain corrector 40 multiplies the signal B, which is the estimate of the amount of expansion and contraction of the speed governor rope from the start floor, by the gain it receives as the gain command signal to obtain a multiplication result. The multiplication result shall be ((signal A) + (signal B)) which is a signal obtained by correcting the signal A which is the error measurement information of the floor destination. In this case, the error related to the floor target point can be set to zero.

Therefore, the gain corresponding to the gain command signal can be defined as a function of the following equation (5), for example. $$\begin{array}{l}\text{Ampl}\ddot{\text{a}}\text{effect factor}\hfill \\ \text{= F}\left(\text{Signal A}\text{, Signal B}\right)\hfill \\ =\left(\left(\text{Signal A}\right)+\left(\text{Signal B}\right)\right)/\left(\text{Signal B}\right)\hfill \end{array}$$

After the gain is adjusted using equation (5), the adjustment calculator returns 50 to step S802 to repeat the processing that follows the customization process. The processing of the adjustment of the gain factor is continued until the error measurement information relating to the floor target point falls within the evaluation reference range. In principle, the number of times the determination processing is performed is shortened to two or less.

Even if it's not in the flowchart of 11 As shown, if the error regarding the floor target location does not converge in the evaluation reference area after two times, the following adjustment can be made. In particular, the adjustment calculator takes 50 indicates an XY plane in which the gain command value is set as the X-axis and the amount of error related to the floor target location is plotted on the Y-axis, and stores the information related to the gain command value and the error related to the floor target location of the first time and the second time . The adjustment calculator 50 plots the results of the first time and the second time in the XY plane, calculates an X-axis intercept of a straight line passing through the two points, and represents the X- Intercept as the gain factor. By calculating the gain in this way, one can set the error with respect to the floor target location to be essentially zero.

By implementing the series of operations available in the 11 are shown, it is possible to quickly correct the estimated value for the amount of expansion and contraction of the speed control cable and to obtain a suitable gain factor at which the error with respect to the floor target location falls within the evaluation reference range.

As described above, the elevator control apparatus according to the third embodiment is adapted to quickly calculate the gain for correcting the estimated value for the amount of expansion and contraction of the speed governor rope even if the detection error is caused by the dynamic characteristic of the speed governor mechanism. As a result, it is possible to correct the detection error caused by the dynamic characteristic and to obtain an appropriate gain in which the error with respect to the floor target point falls within the evaluation reference range.

Furthermore, it is possible to reduce the number of passes until the detection error converges in the evaluation reference area and to quickly obtain a suitable gain factor at which the error with respect to the floor target point falls within the evaluation reference area.

Fourth embodiment

In the first embodiment, a description has been given of the processing for correcting the gain, which is effective in an apparatus in which the dynamic characteristic of the amount of expansion and contraction of the governor rope responds to a deceleration pattern signal without delay. In contrast, a fourth embodiment of the present invention describes processing for correcting the gain for a case where the dynamic characteristic of the amount of expansion and contraction of the governor rope is delayed after a deceleration pattern signal.

In some cases, the dynamic characteristic of the amount of expansion and contraction of the governor rope of an elevator having a long hoistway has a high frequency cutoff characteristic for a deceleration pattern signal. In this case, a time lag or waveform change occurs in the dynamic characteristic of the amount of expansion and contraction of the speed governor rope with respect to the deceleration pattern signal. The time lag and the waveform change are factors of the estimation error of the amount estimator of the expansion and contraction of the speed governor rope, resulting in a problem that the positional error with respect to the floor destination of the car 5 occurs.

Therefore, in the fourth embodiment, a description will be given of the processing for correcting the gain which is effective in the case where the dynamic characteristic of the amount of expansion and contraction of the governor rope has a high frequency cutoff characteristic for a delay pattern signal.

12 Fig. 13 is a configuration diagram of an elevator to which an elevator control device according to the fourth embodiment of the present invention is applied. The structure from 12 according to the fourth embodiment is the same as in FIG 1 according to the first embodiment with the exception of some additional or changed elements. Therefore, the same elements are not described in detail and the following description is primarily directed to the low-pass filter 60 which is new. The low pass filter 60 corresponds to a characteristic correction unit, which is designed to carry out a correction based on the dynamic characteristic of the amount of expansion and contraction of the speed control cable as a function of the current position of the car.

The low pass filter 60 is designed to receive time series information relating to the current position of the car from the current position computer 21st to receive, filters the received time series information to cut off the high frequency band, and transmits a signal obtained by the filtering to the speed command calculator 22nd .

Next, a description will be given of the dynamic characteristic of the amount of expansion and contraction of the governor rope according to the fourth embodiment of the present invention with reference to FIG 13th described. 13th Fig. 13 is an example of time-series information on the amount of expansion and contraction of the governor rope during a period in which the elevator control apparatus according to the fourth embodiment of the present invention is on.

In 13th The dashed line is added and indicates a delay pattern signal for reference. This deceleration pattern signal has the acceleration of the car as the unit of the vertical axis and the time axis is chosen for the display to match the time series information relating to the amount of expansion and contraction of the governor rope.

The dynamic characteristic of the amount of expansion and contraction of the governor rope in this example has a characteristic of deceleration according to the trapezoidal waveform which is a deceleration pattern signal at the start point and the end point of the trapezoidal waveform on the time axis, and a smooth change. This characteristic is a characteristic of filtering the delay pattern signal to cut off the high frequency band.

Such a high-frequency cut-off characteristic can be simulated by a low-pass filter. The low-pass filter can be implemented using, for example, equation (6) below. $$\text{LPF}\left(\text{s}\right)=1/\left(\text{Ts}+1\right)$$

LPF (s) indicates the transfer function of the low-pass filter and T indicates a time constant. By changing the time constant T from equation (6), it is possible to determine the dynamic characteristic of the amount of expansion and contraction of the speed governor rope with a smaller error than in the prior art.

The time series information relating to the current position of the car, which is received from the current position computer 21st is a signal synchronized with the delay pattern signal. It follows from this that the time series information relating to the current position of the car does not allow the dynamic characteristic of the amount of expansion and contraction of the speed control cable to be simulated, namely the high-frequency cut-off characteristic.

To address this problem, by filtering the time series information on the current position of the car by the low-pass filter represented in equation (6), it is possible to obtain the time series information on the current position of the car showing the dynamic characteristic of the amount of expansion and contraction of the speed governor rope is simulated with a smaller error than the prior art.

This information represents the position of the car 5 more accurate than the prior art. Therefore, it is by filtering the time series information regarding the current position of the car by the low pass filter 60 and transmitting the time series information to the speed command computer 22nd possible, the positional error with respect to the floor destination of the car 5 and the vibration of the cabin 5 to suppress at the time of creation. Such a suppression effect can increase the comfort of driving in the cabin 5 improve.

As described above, in the fourth embodiment, there is provided a low-pass filter for simulating a first-order delay in a case where the dynamic characteristic of the amount of expansion and contraction of the governor rope is delayed after the delay pattern signal. As a result, it is possible to suppress the positional error of the floor destination of the car and the vibration of the car at the time of landing due to the first-order delay.

Fifth embodiment

It is clear that the structure with the low pass filter 60 described in the fourth embodiment can be applied to the structure according to the second embodiment. 14th Fig. 13 is a configuration diagram of an elevator to which an elevator control device according to a fifth embodiment of the present invention is applied. With the structure, it is possible, even in the second embodiment, to obtain the effect of suppressing the positional error with respect to the floor target point and the vibration of the car at the time of landing due to the first-order delay.

Sixth embodiment

It is clear that the structure with the low pass filter 60 described in the fourth embodiment can be applied to the structure according to the third embodiment. 15th Fig. 13 is a configuration diagram of an elevator to which an elevator control device according to a sixth embodiment of the present invention is applied. With the structure, it is possible, even in the second embodiment, to obtain the effect of suppressing the positional error with respect to the floor target point and the vibration of the car at the time of landing due to the first-order delay.

Claims (14)

Elevator control device comprising an instantaneous position computer (21) which is designed to calculate a instantaneous position of a car on the basis of a count value of a speed controller encoder which is output according to the rotation of a speed controller around which a speed governor rope connected to the car is wound, the The instantaneous position computer (21) is designed to: Calculate an amount of movement of the car based on the count value of the Speed governor encoder, wherein the moving amount is calculated for a period of time from when the car starts moving from a state where a floor destination detector installed in the car of the elevator detects one of the floor destination plates installed at respective floor positions of a building are, and the car is stationary until the floor destination detector no longer detects the one of the floor destination plates; and estimating an amount of expansion and contraction of the governor rope from a floor from which the car begins to move, by estimating a counter error of the governor encoder caused by the expansion or contraction of the governor rope by multiplying the calculated amount of movement with an actual length of the one of the floor target location plates is compared. Elevator control device according to Claim 1 wherein the current position calculator (21) comprises: an estimator (23) of the amount of expansion and contraction for estimating the counter error corresponding to a starting floor when the car begins to move from the starting floor; a memory (24) for the amount of expansion and contraction adapted to store information relating to the counter error received from the estimator (23) of the amount of expansion and contraction in connection with information relating to a floor associated with corresponds to the starting floor; and a car position calculator (25) which is adapted to, at a point in time when the floor target location detector changes from a state of non-detection of a floor target location plate of a target floor which is set as the starting floor for which the counter error has already been calculated State of detecting the floor target location plate changes during a period in which the car is moving to the target floor and decelerates to stop extracting the counter error stored in the memory (24) for the amount of expansion and contraction as a value corresponding to the target floor and correct the count value of the governor encoder based on the extracted counter error, thereby calculating the current position of the car. Elevator control device according to Claim 2 wherein the estimator (23) of the amount of expansion and contraction is adapted to estimate the counter error for each starting floor from which the car begins to move, and the information on the estimated counter error and information on a corresponding to the starting floor Store floor assigned to each other in the memory (24) for the amount of expansion and contraction. Elevator control device according to Claim 2 , wherein the estimator (23) for the amount of expansion and contraction is designed for when there is a floor for which the counter error is not estimated, and the memory (24) for the amount of expansion and contraction stores already estimated counter errors, corresponding to a plurality of floors to perform interpolation based on the estimated counter errors corresponding to the plurality of floors to estimate the counter error of the floor for which the counter error was not estimated and the estimated counter error in the memory (24) save for the amount of expansion and contraction. Elevator control device according to one of the Claims 2 to 4th wherein the estimator (23) for the amount of expansion and contraction is adapted to estimate the counter error each time the car begins to move from the starting floor, and in the memory (24) for the amount of expansion and Contraction to update stored data using the newly estimated counter error. Elevator control device according to one of the Claims 2 to 5 wherein the estimator (23) for the amount of expansion and contraction is adapted to read data stored in the memory (24) for the amount of expansion and contraction in response to an external command and to transmit the data to the outside . Elevator control device according to one of the Claims 2 to 6th , further comprising a characteristic correcting unit (60) configured to correct the current position of the car output from the current position calculator (21) based on a dynamic characteristic of the amount of expansion and contraction of the speed governor rope. Elevator control device according to Claim 7 , wherein the characteristic correcting unit (60) comprises a low-pass filter adapted to cut off a high frequency band of the output from the current position calculator (21). Elevator control device according to one of the Claims 2 to 8th , further comprising an adaptation calculator (50) configured to obtain floor destination error measurement information measured when the car stops at the destination floor and based on the counter error estimated by the estimator (23) of the amount of expansion and contraction on to adjust the floor target failure measurement information. Elevator control device according to Claim 9 wherein the adaptation calculator (50) is configured to calculate a gain factor based on the floor target location error measurement information and to adapt the numerator error estimated by the estimator (23) for the amount of expansion and contraction by multiplying the numerator error by the gain factor. Elevator control device according to Claim 10 , wherein the adaptation computer (50) is configured, depending on a result of determining whether the floor target point error measurement information exceeds, falls within or falls below an evaluation reference range, increasing or decreasing the gain and performing a plurality of adjustments to thereby to cause the gain to converge. Elevator control device according to Claim 10 or 11 wherein the adaptation calculator (50) is adapted to calculate the gain based on the numerator error estimated by the estimator (23) of the amount of expansion and contraction and the floor target location error measurement information. Elevator control device according to Claim 12 wherein the matching calculator (50) is adapted to calculate the gain as a value obtained by dividing a result of adding the counter error and the floor target location error measurement information by the counter error. A method for estimating an amount of expansion and contraction of a speed governor rope, which is carried out by an instantaneous position computer (21) which is contained in an elevator control device, the instantaneous position computer (21) being designed to calculate an instantaneous position of a car based on a count value of a speed governor encoder to calculate, which is output according to a rotation of a speed controller around which a speed control cable connected to the car is wound, comprising the method: a moving amount calculating step of calculating a moving amount of the car based on the count value of the governor encoder, the moving amount being calculated for a period of time from when the car starts moving from a state where a floor destination detector installed in the car of the elevator , detects one of the floor target plates installed at corresponding floor positions of a building, and the car is stationary until the floor target detector no longer detects the one of the floor target plates; and an estimating step of estimating an amount of expansion and contraction of the governor rope from a floor from which the car starts moving by estimating a counter error of the governor encoder caused by the expansion or contraction of the governor rope by the moving amount calculating step having a calculated amount of movement actual length of the one of the floor target plates is compared.

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