EP1714933B1 - Elevator speed control system - Google Patents

Elevator speed control system Download PDF

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Publication number
EP1714933B1
EP1714933B1 EP06112647.0A EP06112647A EP1714933B1 EP 1714933 B1 EP1714933 B1 EP 1714933B1 EP 06112647 A EP06112647 A EP 06112647A EP 1714933 B1 EP1714933 B1 EP 1714933B1
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EP
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Prior art keywords
speed
elevator car
safety circuit
standstill
brake
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EP06112647.0A
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German (de)
French (fr)
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EP1714933A1 (en
Inventor
Rudolf Eckenstein
Carlos Latorre Marcuz
Eric Birrer
Karsten Gensicke
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Inventio AG
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Inventio AG
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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

Definitions

  • the invention relates to a detection system for monitoring the speed of an elevator car, wherein a measuring system detects the movement of the elevator car and a counterweight driving pulley and a computer evaluates signals of the measuring system, which computer initiates a delay process in an unauthorized deviation of the speed of the elevator car from a speed specification ,
  • a disadvantage of the known device is that consuming hardware is necessary for monitoring the cable drum, which is expensive to purchase and maintain.
  • the invention aims to remedy this situation.
  • the invention as characterized in the independent patent claims, solves the problem of avoiding the disadvantages of the known device and to provide a method by means of which the speed of an elevator car can be monitored by simple means.
  • the movement of a traction sheave driving the elevator car and a counterweight is detected and evaluated, and a deceleration of the elevator car is initiated in the event of overspeed of the elevator car or in the case of an unauthorized deviation of the speed of the elevator car from a speed specification, wherein monitoring is performed whether the elevator car is delayed according to predetermined specifications and if the delay is in accordance with the predetermined specifications, it is further monitored whether the elevator car leaves its standstill position and / or if the delay of the elevator car has not run according to the predetermined specifications or if the elevator car is a standstill position has left, a brake is activated, which locks the elevator car.
  • a measuring system detects the movement of the traction sheave driving the elevator car and a counterweight and a computer evaluates signals of the measuring system, which computer initiates a deceleration process in case of overspeed of the elevator car, wherein the detection system, when exceeding an overspeed limit Opens the overspeed of the elevator car at time zero of the detected as open safety circuit and the detection system monitors after a certain time from the time zero, whether the speed of the elevator car is less than the overspeed and wherein the detection system after a certain time from Time zero monitors whether the elevator car's speed is less than half the overspeed, and after a certain time from time zero, the detection system monitors whether the elevator car's speed is less than a stall speed.
  • a brake is activated if the monitored speed does not fall below predetermined values or if the elevator car has left the standstill position.
  • a rope brake or a cabin brake or a safety gear can be provided.
  • the rope brake is fixedly arranged on the building body or on the supporting structure of the elevator and acts on the supporting cables acting as suspension means. In case of braking, the suspension cables are fixed.
  • the car brake or the safety gear is arranged on the elevator car and acts on fixed guide rails. The brake may also be provided for braking the counterweight.
  • Fig. 1 has been separated for illustrative reasons along the line L in Fig. 1a and Fig. 1b , which together show a block diagram of a device for monitoring the speed of an elevator car.
  • Means, called in the further detection system 1 consists essentially of a two-channel computer 2 with channel A and channel B, from actuated in a safety circuit 3 of the elevator control actuators 4A, 4B, from each channel A, B a measuring system 5A, 5B for detecting the movement the traction sheave driving the elevator car and the counterweight, from a sensor 6 for monitoring a brake, from a sensor 7 for monitoring the pressure medium (for example compressed air) of the brake, which acts brakingly on the cable strand guided over the traction sheave, from an actuator 8 for ventilation the brake against a spring force, a converter 9 for the voltage-moderate conversion of sensor signals and a power supply 10 for the computer 2, for the actuators and for the sensors.
  • a measuring system 5A, 5B for detecting the movement the traction sheave driving the elevator car and the counterweight
  • a sensor 6 for monitoring a brake
  • a sensor 7 for monitoring the pressure medium (for example compressed air) of the brake, which acts brakingly on the cable
  • a measuring system 11A, 11B monitoring the rotational movement of the drive motor can also be connected to the computer 2 per channel.
  • a memory 12A, 12B is provided. Maintenance personnel can communicate with the computer 2 by means of a man-machine interface 13.
  • the measuring system 5A, 5B can detect the movement of the traction sheave shaft or the movement of the traction sheave circumference, wherein, for example, scannable magnetic poles or optically scannable code slices are provided. With the measuring signals, for example, the speed or the position of the elevator car can be determined.
  • the optional measuring system 11A, 11B monitoring the rotational movement of the drive motor has a comparable construction.
  • the human-machine interface 13 consists for example of a keyboard for the input of data and parameters and of a display for the visualization of data and operating states.
  • Per channel A, B, an actuator 4A, 4B, for example a relay, is provided in the safety circuit 3.
  • the relay is controlled by the microprocessor ⁇ PA, ⁇ PB via the line TRIA1, TRIB1, the microprocessor ⁇ PA, ⁇ PB monitoring the switching state of the relay by means of the line FDBA, FDBB.
  • the microprocessor ⁇ PA, ⁇ PB monitors the state of the safety circuit 3 by means of the current sensor CUDA, CUDB.
  • a compressed air-operated brake wherein the compressed air by means of actuator 8, for example, a solenoid valve is switchable and the pressure by means of sensor 7, for example, a pressure transducer is measurable, wherein the pressure measured at the brake PRS is converted into an electrical signal.
  • actuator 8 for example, a solenoid valve is switchable and the pressure by means of sensor 7, for example, a pressure transducer is measurable, wherein the pressure measured at the brake PRS is converted into an electrical signal.
  • an actuator 14A, 14B for example, a switch is provided for each channel A, B.
  • the switch is controlled by the microprocessor ⁇ P by means of the line TRIA2, TRIB2.
  • the brake is released if both actuators 14A, 14B are closed, with the compressed air overcoming the spring force of brake springs.
  • With the sensor 6 it is determined whether the brake is released or closed. A drive of the elevator car will be released only if the sensor 7 detects the corresponding pressure PRS in the pressure medium and the sensor 6 detect
  • the signals of the sensors 6,7 are converted by means of the converter 9 into microprocessor-compatible signals.
  • the 24V signals are converted into 5V signals by means of transducers UCONA1, UCONA2, UCONA3, UCONA4 UCONB1, UCONB2, UCONB3, UCONB4 and fed galvanically separated to the corresponding microprocessor ⁇ PA, ⁇ PB.
  • the power supply 10 generates the necessary supply voltages for the operation of the detection system 1, wherein the mains voltage 110-240 VAC is converted by means of transformer / rectifier TRRE into a low-voltage DC voltage LVDC.
  • 5 volts (5V) are generated by the feed S1 ⁇ PA, S1 ⁇ PB for the calculator 2
  • 5V are generated by feed S1CA
  • S1CB for the measuring systems 5A, 5B, 11A, 11B, 12V are generated by feeding S1REL to the actuators 4A, 4B
  • 24V (24V) are generated by supply S2 ⁇ PA
  • 24V are generated by feeding S1MV to the actuator 8
  • 24V are generated by feeding S1SW to the sensors 6,7.
  • microprocessors ⁇ PA, ⁇ PB communicate with each other via data lines UART1, UART2 as well as NPORT and MPORT.
  • Fig. 2 shows a diagram illustrating the operating states of the detection system 1 and Fig. 3 the associated speed diagram of the elevator car.
  • the representation shown is based on the state / event technique in which circles mean states of the system. Arrows with text or reference symbols symbolize events that trigger a transition from one state to another state. Actions are symbolized with rectangles and text or reference signs. For better readability, events or actions are shown in bold in the description.
  • State 1 (circle with a 1) means normal driving condition. While driving, the elevator car is os the elevator car monitors designated speed limit as an overspeed v. Safety circuit 3 is normally closed. When crossing EXC the
  • the actuators or relays 4A, 4B are controlled by the microprocessors ⁇ PA, ⁇ PB by means of the lines TRIA1, TRIB1, the microprocessors ⁇ PA, ⁇ PB monitoring the switching state of the relays 4A, 4B by means of the lines FDBA, FDBB.
  • Fig. 2 is the action safety circuit 3 open with relay open OR symbolized in a rectangle.
  • the event safety circuit detected as open SCDO (detected by the microprocessors ⁇ PA, ⁇ PB) triggers a transition from state 1 to state 2.
  • State 2 (circle with a 2) means delay state.
  • the drive unit engine, brake
  • the speed vel_decel of the elevator car at time zero of the safety circuit 3 detected as being opened has been stored. After a certain time t1, for example 500 ms, measured from time zero, the speed of the elevator car must be less than vel_decel.
  • the microprocessors ⁇ PA, ⁇ PB prepare the current data of the measuring system 5A, 5B and compare them with vel_decel. If this condition (event too small delay DETL) is not reached, the transition to state 4 (brake state with brake) is triggered. (Action open relay OR and brake trigger TRRB).
  • the speed of the elevator car After a certain time t2, for example 2s, measured from the time zero, the speed of the elevator car must be less than vel_decel / 2.
  • the microprocessors ⁇ PA, ⁇ PB prepare the current data of the Measuring system 5A, 5B and compare them with vel_decel / 2. If this condition is not met (incident to small delay DETL), the transition in state 4 (braking state with brake) is triggered.
  • the speed of the elevator car After a certain time t3, for example 4s, measured from the time zero, the speed of the elevator car must be less than a standstill speed v stand_still .
  • the microprocessors ⁇ PA, ⁇ PB prepare the current data of the measuring system 5A, 5B and compare it with v stand_still . If this condition (event too small delay DETL) is not reached, the transition to state 4 (brake state with brake) is triggered.
  • the state 3 (circle with a 3) with the event speed of the elevator car smaller than stand_still (abs (vel) ⁇ v stand_still ) is reached, the current position of the elevator car is stored as a standstill position, the microprocessors .mu.PA, .mu.PB the current data of the measuring system 5A, 5B prepare and determine the standstill position of the elevator car. If the elevator car exceeds a certain deviation stand_still_tolerance (eg 50 mm) from the standstill position when the safety circuit 3 is open, the transition to state 4 (brake state with brake) is triggered.
  • a certain deviation stand_still_tolerance eg 50 mm
  • the actuators 4A, 4B are activated (event at least 2s standstill ST2S).
  • Fig. 2 is the action safety circuit 3 close with relay close CR symbolized in a rectangle.
  • the event safety circuit detected as closed SCDC (detected by the microprocessors ⁇ PA, ⁇ PB) triggers a transition from state 3 to state 1.
  • State 2 or state 3 can trigger the transition to the braking state with brake (circle with a 4).
  • the brake acting directly on the suspension cables of the elevator car is activated, wherein at least one actuator 14A, 14B is deactivated.
  • compression springs generate the braking force on the suspension cables.
  • the actuators 14A, 14B are activated and the actuator 8 according to Fig. 1 powered, the compressed air acts against the spring force and releases the brake.
  • the state 4 can not be left.
  • a reset of state 4 can only be done by switching the mains voltage off / on.
  • FIGS. 2 and 3 The in the FIGS. 2 and 3 The steps shown are stored in coded form in the program memory 12A, 12B and are executed by the microprocessors .mu.PA, .mu.PB.
  • the monitoring of the standstill position of the elevator car is particularly important when entering and exiting or when the car door and shaft door open. Normally, in the case of a floor stop, the threshold of the car door is approximately flush with the threshold of the shaft door. If the elevator car leaves its standstill position, a height difference arises between the sleepers, which can lead to accidents when entering and exiting. In extreme cases, a gap and thus an open elevator shaft can arise between the elevator car and the floor.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Maintenance And Inspection Apparatuses For Elevators (AREA)

Description

Die Erfindung betrifft ein Detektionssystem zur Überwachung der Geschwindigkeit einer Aufzugskabine, wobei ein Messsystem die Bewegung der die Aufzugskabine und ein Gegengewicht antreibenden Treibscheibe erfasst und ein Rechner Signale des Messsystems auswertet, welcher Rechner bei einer unerlaubten Abweichung der Geschwindigkeit der Aufzugskabine von einer Geschwindigkeitsvorgabe einen Verzögerungsvorgang einleitet.The invention relates to a detection system for monitoring the speed of an elevator car, wherein a measuring system detects the movement of the elevator car and a counterweight driving pulley and a computer evaluates signals of the measuring system, which computer initiates a delay process in an unauthorized deviation of the speed of the elevator car from a speed specification ,

Aus der Patentschrift US 4 177 973 ist eine motorisierte Seiltrommel bekannt geworden, bei der die Motorwelle und die Trommelwelle elektrisch überwacht werden. Je Welle ist ein Sensor zur Erfassung der Wellenumdrehungen vorgesehen. Die Signale der Sensoren werden verglichen, wobei das Verhältnis der Umdrehungen der Motorwellle zu den Umdrehungen der Trommelwelle bei Normalbetrieb dem Übersetzungsverhältnis des Getriebes entspricht. Falls aus der Signalauswertung ein vom Getriebeverhältnis abweichendes Resultat hervorgeht, wird eine auf die Seiltrommel einwirkende Bremseinrichtung aktiviert.From the patent US 4 177 973 has become known a motorized cable drum, in which the motor shaft and the drum shaft are electrically monitored. Each shaft is provided with a sensor for detecting shaft revolutions. The signals of the sensors are compared, wherein the ratio of the revolutions of the motor shaft to the revolutions of the drum shaft in normal operation corresponds to the transmission ratio of the transmission. If a result deviating from the transmission ratio results from the signal evaluation, a braking device acting on the cable drum is activated.

Ein Nachteil der bekannten Einrichtung liegt darin, dass zur Überwachung der Seiltrommel aufwendige Hardware notwendig ist, was teuer in Anschaffung und Unterhalt ist.A disadvantage of the known device is that consuming hardware is necessary for monitoring the cable drum, which is expensive to purchase and maintain.

Aus der Patentschrift US 4 263 988 ist ein System zur Überwachung der Geschwindigkeit einer Aufzugskabine bekannt geworden, das abnormale Geschwindigkeitszunahmen des Antriebsmotors und somit der Aufzugskabine verhindert. Ein Geschwindigkeitssollwert wird mit einem Geschwindigkeitsistwert verglichen. Bei abnormaler Übergeschwindigkeit erzeugt ein Überwachungskreis ein Korrektursignal und bringt den Antrieb in den Bremsbetrieb bzw. schaltet die Antriebsbremse ein.From the patent US 4,263,988 For example, a system for monitoring the speed of an elevator car has been disclosed which prevents abnormal increases in the speed of the drive motor and thus of the elevator car. A speed setpoint is compared with a speed actual value. In the event of abnormal overspeed, a monitoring circuit generates a correction signal and puts the drive into braking mode or switches on the drive brake.

Hier will die Erfindung Abhilfe schaffen. Die Erfindung, wie sie in den unabhängigen Patentansprüchen gekennzeichnet ist, löst die Aufgabe, die Nachteile der bekannten Einrichtung zu vermeiden und ein Verfahren anzugeben, mittels dem die Geschwindigkeit einer Aufzugskabine mit einfachen Mitteln überwachbar ist.The invention aims to remedy this situation. The invention, as characterized in the independent patent claims, solves the problem of avoiding the disadvantages of the known device and to provide a method by means of which the speed of an elevator car can be monitored by simple means.

Beim erfindungsgemässen Verfahren zur Überwachung der Geschwindigkeit einer Aufzugskabine wird die Bewegung einer die Aufzugskabine und ein Gegengewicht antreibenden Treibscheibe erfasst und ausgewertet und bei Übergeschwindigkeit der Aufzugskabine bzw. bei einer unerlaubten Abweichung der Geschwindigkeit der Aufzugskabine von einer Geschwindigkeitsvorgabe eine Verzögerung der Aufzugskabine eingeleitet, wobei überwacht wird, ob die Aufzugskabine nach vorherbestimmten Vorgaben verzögert wird und falls die Verzögerung nach den vorherbestimmten Vorgaben verlaufen ist weiter überwacht wird, ob die Aufzugskabine ihre Stillstandsposition verlässt und/oder falls die Verzögerung der Aufzugskabine nicht nach den vorherbestimmten Vorgaben verlaufen ist oder falls die Aufzugskabine eine Stillstandsposition verlassen hat, eine Bremse aktiviert wird, die die Aufzugskabine festsetzt.In the method according to the invention for monitoring the speed of an elevator car, the movement of a traction sheave driving the elevator car and a counterweight is detected and evaluated, and a deceleration of the elevator car is initiated in the event of overspeed of the elevator car or in the case of an unauthorized deviation of the speed of the elevator car from a speed specification, wherein monitoring is performed whether the elevator car is delayed according to predetermined specifications and if the delay is in accordance with the predetermined specifications, it is further monitored whether the elevator car leaves its standstill position and / or if the delay of the elevator car has not run according to the predetermined specifications or if the elevator car is a standstill position has left, a brake is activated, which locks the elevator car.

Beim erfindungsgemässen Detektionssystem zur Überwachung der Geschwindigkeit einer Aufzugskabine erfasst ein Messsystem die Bewegung der die Aufzugskabine und ein Gegengewicht antreibenden Treibscheibe und ein Rechner wertet Signale des Messsystems aus, welcher Rechner bei Übergeschwindigkeit der Aufzugskabine einen Verzögerungsvorgang einleitet, wobei das Detektionssystem beim Überschreiten einer Übergeschwindigkeitslimite einen Sicherheitskreis öffnet und die Übergeschwindigkeit der Aufzugskabine zum Zeitpunkt Null des als geöffnet detektierten Sicherheitskreises abspeichert und wobei das Detektionssystem nach einer bestimmten Zeit ab dem Zeitpunkt Null überwacht, ob die Geschwindigkeit der Aufzugskabine kleiner ist als die Übergeschwindigkeit und wobei das Detektionssystem nach einer bestimmten Zeit ab dem Zeitpunkt Null überwacht, ob die Geschwindigkeit der Aufzugskabine kleiner ist als die halbe Übergeschwindigkeit und wobei das Detektionssystem nach einer bestimmten Zeit ab dem Zeitpunkt Null überwacht, ob die Geschwindigkeit der Aufzugskabine kleiner ist als eine Stillstandsgeschwindigkeit.In the detection system according to the invention for monitoring the speed of an elevator car, a measuring system detects the movement of the traction sheave driving the elevator car and a counterweight and a computer evaluates signals of the measuring system, which computer initiates a deceleration process in case of overspeed of the elevator car, wherein the detection system, when exceeding an overspeed limit Opens the overspeed of the elevator car at time zero of the detected as open safety circuit and the detection system monitors after a certain time from the time zero, whether the speed of the elevator car is less than the overspeed and wherein the detection system after a certain time from Time zero monitors whether the elevator car's speed is less than half the overspeed, and after a certain time from time zero, the detection system monitors whether the elevator car's speed is less than a stall speed.

Die durch die Erfindung erreichten Vorteile sind darin zu sehen, dass mit dem erfindungsgemässen Verfahren bzw. der erfindungsgemässen Einrichtung die Geschwindigkeit bzw. die Geschwindigkeitsveränderung bei der Verzögerung der Aufzugskabine überwachbar ist.The advantages achieved by the invention can be seen in the fact that with the method according to the invention or the device according to the invention the speed or the speed change during the deceleration of the elevator car can be monitored.

Vorteilhafterweise wird falls die überwachte Geschwindigkeit vorherbestimmte Werte nicht unterschreitet oder falls die Aufzugskabine die Stillstandsposition verlassen hat, eine Bremse aktiviert. Mit dem erfindungsgemässen Verfahren bzw. der erfindungsgemässen Einrichtung können Sicherheitsrisiken aus gefährlichen Zuständen wie Übergeschwindigkeit der Aufzugskabine, Versagen der Motorbremse während der Fahrt beim Einfahren auf ein Stockwerk, Versagen der Motorbremse bei einem Stockwerkhalt oder Wellenbruch der Treibscheibenwelle vermieden werden.Advantageously, if the monitored speed does not fall below predetermined values or if the elevator car has left the standstill position, a brake is activated. With the method according to the invention or the device according to the invention, safety risks arising from dangerous conditions such as overspeed of the elevator car, failure of the engine brake while driving on a floor, failure of the engine brake in a floor stop or shaft break of the traction sheave shaft can be avoided.

Als Bremse kann beispielsweise eine Seilbremse oder eine Kabinenbremse oder eine Fangvorrichtung vorgesehen sein. Die Seilbremse ist fest am Gebäudekörper oder an der Tragstruktur des Aufzuges angeordnet und wirkt auf die als Tragmittel wirkenden Tragseile. Im Bremsfall werden die Tragseile festgesetzt. Die Kabinenbremse oder die Fangvorrichtung ist an der Aufzugskabine angeordnet und wirkt auf feststehende Führungsschienen. Die Bremse kann auch zum Bremsen des Gegengewichtes vorgesehen sein.As a brake, for example, a rope brake or a cabin brake or a safety gear can be provided. The rope brake is fixedly arranged on the building body or on the supporting structure of the elevator and acts on the supporting cables acting as suspension means. In case of braking, the suspension cables are fixed. The car brake or the safety gear is arranged on the elevator car and acts on fixed guide rails. The brake may also be provided for braking the counterweight.

Vorteilhafte Weiterbildungen der Erfindung sind in den abhängigen Patentansprüchen angegeben.Advantageous developments of the invention are specified in the dependent claims.

Anhand der beiliegenden Figuren wird die vorliegende Erfindung näher erläutert.Reference to the accompanying figures, the present invention will be explained in more detail.

Es zeigen:

  • Fig. 1
    ein Blockschaltbild einer Einrichtung zur Überwachung der Geschwindigkeit einer Aufzugskabine,
  • Fig. 2
    ein Diagramm zur Darstellung der Betriebszustände der Einrichtung zur Überwachung der Geschwindigkeit der Aufzugskabine und
  • Fig. 3
    ein Geschwindigkeitsdiagramm zur Überwachung der Geschwindigkeit der Aufzugskabine,
Show it:
  • Fig. 1
    a block diagram of a device for monitoring the speed of an elevator car,
  • Fig. 2
    a diagram showing the operating states of the device for monitoring the speed of the elevator car and
  • Fig. 3
    a speed diagram for monitoring the speed of the elevator car,

Fig. 1 ist aus zeichnerischen Gründen entlang der Linie L aufgetrennt worden in Fig. 1a und Fig. 1b, die zusammen ein Blockschaltbild einer Einrichtung zur Überwachung der Geschwindigkeit einer Aufzugskabine zeigen. Die Fig. 1 has been separated for illustrative reasons along the line L in Fig. 1a and Fig. 1b , which together show a block diagram of a device for monitoring the speed of an elevator car. The

Einrichtung, im weiteren Detektionssystem 1 genannt besteht im wesentlichen aus einem zweikanaligen Rechner 2 mit Kanal A und Kanal B, aus in einen Sicherheitskreis 3 der Aufzugssteuerung eingeschalteten Aktuatoren 4A, 4B, aus je Kanal A,B einem Messsystem 5A, 5B zur Erfassung der Bewegung der die Aufzugskabine und das Gegengewicht antreibenden Treibscheibe, aus einem Sensor 6 zur Überwachung einer Bremse, aus einem Sensor 7 zur Überwachung des Druckmittels (beispielsweise Druckluft) der Bremse, die auf den über die Treibscheibe geführten Seilstrang bremsend einwirkt, aus einem Aktuator 8 zur Lüftung der Bremse entgegen einer Federkraft, einem Konverter 9 zur spannungsmässigen Umwandlung von Sensorsignalen und aus einer Spannungsversorgung 10 für den Rechner 2, für die Aktuatoren und für die Sensoren. Optional kann auch je Kanal ein die Rotationsbewegung des Antriebsmotors überwachendes Messsystem 11A, 11B an den Rechner 2 angeschlossen werden. Je Kanal ist ein Speicher 12A, 12B vorgesehen. Mittels einer Mensch-Maschine-Schnittstelle 13 kann Wartungspersonal mit dem Rechner 2 kommunizieren.Means, called in the further detection system 1 consists essentially of a two-channel computer 2 with channel A and channel B, from actuated in a safety circuit 3 of the elevator control actuators 4A, 4B, from each channel A, B a measuring system 5A, 5B for detecting the movement the traction sheave driving the elevator car and the counterweight, from a sensor 6 for monitoring a brake, from a sensor 7 for monitoring the pressure medium (for example compressed air) of the brake, which acts brakingly on the cable strand guided over the traction sheave, from an actuator 8 for ventilation the brake against a spring force, a converter 9 for the voltage-moderate conversion of sensor signals and a power supply 10 for the computer 2, for the actuators and for the sensors. Optionally, a measuring system 11A, 11B monitoring the rotational movement of the drive motor can also be connected to the computer 2 per channel. Per channel, a memory 12A, 12B is provided. Maintenance personnel can communicate with the computer 2 by means of a man-machine interface 13.

Das Messsystem 5A, 5B kann die Bewegung der Treibscheibenwelle oder die Bewegung des Treibscheibenumfanges erfassen, wobei beispielsweise abtastbare Magnetpole oder optisch abtastbare Codescheiben vorgesehen sind. Mit den Messsignalen kann beispielsweise die Geschwindigkeit oder die Position der Aufzugskabine bestimmt werden. Das optionale, die Rotationsbewegung des Antriebsmotors überwachende Messsystem 11A, 11B ist vergleichbar aufgebaut.The measuring system 5A, 5B can detect the movement of the traction sheave shaft or the movement of the traction sheave circumference, wherein, for example, scannable magnetic poles or optically scannable code slices are provided. With the measuring signals, for example, the speed or the position of the elevator car can be determined. The optional measuring system 11A, 11B monitoring the rotational movement of the drive motor has a comparable construction.

Die Mensch-Maschine-Schnittstelle 13 besteht beispielsweise aus einer Tastatur zur Eingabe von Daten und Parametern und aus einer Anzeige zur Visualisierung von Daten und Betriebszuständen.The human-machine interface 13 consists for example of a keyboard for the input of data and parameters and of a display for the visualization of data and operating states.

Je Kanal A,B ist im Sicherheitskreis 3 ein Aktuator 4A, 4B, beispielsweise ein Relais, vorgesehen. Das Relais wird mittels der Leitung TRIA1, TRIB1 vom Mikroprozessor µPA, µPB angesteuert, wobei der Mikroprozessor µPA, µPB den Schaltzustand des Relais mittels der Leitung FDBA,FDBB überwacht. Ausserdem überwacht der Mikroprozessor µPA, µPB den Zustand des Sicherheitskreises 3 mittels des Stromsensors CUDA,CUDB.Per channel A, B, an actuator 4A, 4B, for example a relay, is provided in the safety circuit 3. The relay is controlled by the microprocessor μPA, μPB via the line TRIA1, TRIB1, the microprocessor μPA, μPB monitoring the switching state of the relay by means of the line FDBA, FDBB. In addition, the microprocessor μPA, μPB monitors the state of the safety circuit 3 by means of the current sensor CUDA, CUDB.

Als Bremse ist beispielsweise eine druckluftbetriebene Bremse vorgesehen, wobei die Druckluft mittels Aktuator 8, beispielsweise ein Magnetventil schaltbar ist und der Druck mittels Sensor 7, beispielsweise ein Druckkonverter messbar ist, wobei der an der Bremse gemessene Druck PRS in ein elektrisches Signal umgesetzt wird. Je Kanal A,B ist ein Aktuator 14A, 14B, beispielsweise ein Schalter vorgesehen. Der Schalter wird mittels der Leitung TRIA2, TRIB2 vom Mikroprozessor µP angesteuert. Die Bremse ist gelüftet, falls beide Aktuatoren 14A, 14B geschlossen sind, wobei die Druckluft die Federkraft von Bremsfedern überwindet. Mit dem Sensor 6 wird festgestellt, ob die Bremse gelüftet oder geschlossen ist. Eine Fahrt der Aufzugskabine wird erst freigegeben werden, falls der Sensor 7 den entsprechenden Druck PRS im Druckmittel feststellt und der Sensor 6 die Bremse als gelüftet feststellt.As a brake, for example, a compressed air-operated brake is provided, wherein the compressed air by means of actuator 8, for example, a solenoid valve is switchable and the pressure by means of sensor 7, for example, a pressure transducer is measurable, wherein the pressure measured at the brake PRS is converted into an electrical signal. For each channel A, B, an actuator 14A, 14B, for example, a switch is provided. The switch is controlled by the microprocessor μP by means of the line TRIA2, TRIB2. The brake is released if both actuators 14A, 14B are closed, with the compressed air overcoming the spring force of brake springs. With the sensor 6 it is determined whether the brake is released or closed. A drive of the elevator car will be released only if the sensor 7 detects the corresponding pressure PRS in the pressure medium and the sensor 6 detects the brake as released.

Die Signale der Sensoren 6,7 werden mittels des Konverters 9 in mikroprozessorkompatible Signale umgewandelt. Im vorliegenden Beispiel werden die 24V Signale in 5V Signale mittels Wandler UCONA1, UCONA2, UCONA3, UCONA4 UCONB1, UCONB2, UCONB3, UCONB4 umgewandelt und galvanisch getrennt dem entsprechenden Mikroprozessor µPA, µPB zugeführt.The signals of the sensors 6,7 are converted by means of the converter 9 into microprocessor-compatible signals. In the present example, the 24V signals are converted into 5V signals by means of transducers UCONA1, UCONA2, UCONA3, UCONA4 UCONB1, UCONB2, UCONB3, UCONB4 and fed galvanically separated to the corresponding microprocessor μPA, μPB.

Die Spannungsversorgung 10 erzeugt die notwendigen Versorgungsspannungen für den Betrieb des Detektionssystems 1, wobei die Netzspannung 110-240 VAC mittels Transformer/Gleichrichter TRRE in eine niedervoltige Gleichspannung LVDC umgewandelt wird. Im vorliegenden Beispiel werden 5 Volt (5V) erzeugt durch die Speisung S1µPA, S1µPB für den Rechner 2, 5V werden erzeugt durch Speisung S1CA, S1CB für die Messsysteme 5A, 5B, 11A, 11B, 12 Volt werden erzeugt durch Speisung S1REL für die Aktuatoren 4A, 4B, 24 Volt (24V) werden erzeugt durch Speisung S2µPA, S2µPB für den Rechner 2, 24V werden erzeugt durch Speisung S1MV für den Aktuator 8 und 24V werden erzeugt durch Speisung S1SW für die Sensoren 6,7.The power supply 10 generates the necessary supply voltages for the operation of the detection system 1, wherein the mains voltage 110-240 VAC is converted by means of transformer / rectifier TRRE into a low-voltage DC voltage LVDC. In the present example 5 volts (5V) are generated by the feed S1μPA, S1μPB for the calculator 2, 5V are generated by feed S1CA, S1CB for the measuring systems 5A, 5B, 11A, 11B, 12V are generated by feeding S1REL to the actuators 4A, 4B, 24V (24V) are generated by supply S2μPA, S2μPB for the calculator 2, 24V are generated by feeding S1MV to the actuator 8 and 24V are generated by feeding S1SW to the sensors 6,7.

Die Mikroprozessoren µPA, µPB kommunizieren untereinander mittels Datenleitungen UART1, UART2 sowie NPORT und MPORT.The microprocessors μPA, μPB communicate with each other via data lines UART1, UART2 as well as NPORT and MPORT.

Fig. 2 zeigt ein Diagramm zur Darstellung der Betriebszustände des Detektionssystems 1 und Fig. 3 das zugehörige Geschwindigkeitsdiagramm der Aufzugskabine. Die in Fig. 2 gezeigte Darstellung basiert auf der State/Event Technik, bei der Kreise Zustände des Systems bedeuten. Pfeile mit Text bzw. Bezugszeichen symbolisieren Ereignisse, die einen Übergang von einem Zustand in einen anderen Zustand auslösen. Aktionen sind mit Rechtecken und Text bzw. Bezugszeichen symbolisiert. Der besseren Lesbarkeit wegen sind in der Beschreibung Ereignisse bzw. Aktionen mit Fettdruck dargestellt. Fig. 2 shows a diagram illustrating the operating states of the detection system 1 and Fig. 3 the associated speed diagram of the elevator car. In the Fig. 2 The representation shown is based on the state / event technique in which circles mean states of the system. Arrows with text or reference symbols symbolize events that trigger a transition from one state to another state. Actions are symbolized with rectangles and text or reference signs. For better readability, events or actions are shown in bold in the description.

Zustand 1 (Kreis mit einer 1) bedeutet normaler Fahrzustand. Während der Fahrt der Aufzugskabine wird eine als Übergeschwindigkeit vos der Aufzugskabine bezeichnete Geschwindigkeitslimite überwacht. Der Sicherheitskreis 3 ist im Normalfall geschlossen. Beim Überschreiten EXC derState 1 (circle with a 1) means normal driving condition. While driving, the elevator car is os the elevator car monitors designated speed limit as an overspeed v. Safety circuit 3 is normally closed. When crossing EXC the

Übergeschwindigkeitslimite vos wird der Sicherheitskreis 3 geöffnet. Die Aktuatoren bzw. Relais 4A, 4B werden mittels der Leitungen TRIA1,TRIB1 von den Mikroprozessoren µPA, µPB angesteuert, wobei die Mikroprozessoren µPA, µPB den Schaltzustand der Relais 4A, 4B mittels der Leitungen FDBA,FDBB überwachen. In Fig. 2 ist die Aktion Sicherheitskreis 3 öffnen mit Relais öffnen OR in einem Rechteck symbolisiert. Das Ereignis Sicherheitskreis als offen detektiert SCDO (detektiert von den Mikroprozessoren µPA, µPB) löst einen Übergang von Zustand 1 in Zustand 2 aus.Overspeed limit V os the safety circuit 3 is opened. The actuators or relays 4A, 4B are controlled by the microprocessors μPA, μPB by means of the lines TRIA1, TRIB1, the microprocessors μPA, μPB monitoring the switching state of the relays 4A, 4B by means of the lines FDBA, FDBB. In Fig. 2 is the action safety circuit 3 open with relay open OR symbolized in a rectangle. The event safety circuit detected as open SCDO (detected by the microprocessors μPA, μPB) triggers a transition from state 1 to state 2.

Zustand 2 (Kreis mit einer 2) bedeutet Verzögerungszustand. Die Antriebseinheit (Motor, Bremse) wird auf Bremsen umgeschaltet, wobei die Aufzugskabine verzögert wird. Die Geschwindigkeit vel_decel der Aufzugskabine zum Zeitpunkt Null des als geöffnet detektierten Sicherheitskreises 3 ist abgespeichert worden. Nach einer bestimmten Zeit t1, beispielsweise 500ms, gemessen ab dem Zeitpunkt Null muss die Geschwindigkeit der Aufzugskabine kleiner sein als vel_decel. Die Mikroprozessoren µPA, µPB bereiten die aktuellen Daten des Messsystems 5A, 5B auf und vergleichen diese mit vel_decel. Falls diese Bedingung (Ereignis zu kleine Verzögerung DETL) nicht erreicht wird, wird der Übergang in den Zustand 4 (Bremszustand mit Bremse) ausgelöst. (Aktion Relais öffnen OR und Bremse auslösen TRRB).State 2 (circle with a 2) means delay state. The drive unit (engine, brake) is switched to brakes, the elevator car is delayed. The speed vel_decel of the elevator car at time zero of the safety circuit 3 detected as being opened has been stored. After a certain time t1, for example 500 ms, measured from time zero, the speed of the elevator car must be less than vel_decel. The microprocessors μPA, μPB prepare the current data of the measuring system 5A, 5B and compare them with vel_decel. If this condition (event too small delay DETL) is not reached, the transition to state 4 (brake state with brake) is triggered. (Action open relay OR and brake trigger TRRB).

Nach einer bestimmten Zeit t2, beispielsweise 2s, gemessen ab dem Zeitpunkt Null muss die Geschwindigkeit der Aufzugskabine kleiner sein als vel_decel/2. Die Mikroprozessoren µPA, µPB bereiten die aktuellen Daten des Messsystems 5A, 5B auf und vergleichen diese mit vel_decel/2. Falls diese Bedingung (Ereignis zu kleine Verzögerung DETL) nicht erreicht wird, wird der Übergang in den Zustand 4 (Bremszustand mit Bremse) ausgelöst. Nach einer bestimmten Zeit t3, beispielsweise 4s, gemessen ab dem Zeitpunkt Null muss die Geschwindigkeit der Aufzugskabine kleiner sein als eine Stillstandsgeschwindigkeit vstand_still. Die Mikroprozessoren µPA, µPB bereiten die aktuellen Daten des Messsystems 5A,5B auf und vergleichen diese mit vstand_still. Falls diese Bedingung (Ereignis zu kleine Verzögerung DETL) nicht erreicht wird, wird der Übergang in den Zustand 4 (Bremszustand mit Bremse) ausgelöst.After a certain time t2, for example 2s, measured from the time zero, the speed of the elevator car must be less than vel_decel / 2. The microprocessors μPA, μPB prepare the current data of the Measuring system 5A, 5B and compare them with vel_decel / 2. If this condition is not met (incident to small delay DETL), the transition in state 4 (braking state with brake) is triggered. After a certain time t3, for example 4s, measured from the time zero, the speed of the elevator car must be less than a standstill speed v stand_still . The microprocessors μPA, μPB prepare the current data of the measuring system 5A, 5B and compare it with v stand_still . If this condition (event too small delay DETL) is not reached, the transition to state 4 (brake state with brake) is triggered.

Falls die Bedingung vstand_still erreicht wird, wird der Übergang in den Zustand 3 (Zustand Stillstandsüberwachung) ausgelöst.If the condition v_stand_still is reached, the transition to state 3 (standstill monitoring state) is triggered.

Falls eine externe Vorrichtung den Sicherheitskreis 3 geöffnet hat, wird der Übergang in den Zustand 1 (Normaler Fahrzustand) ausgelöst. (Ereignis Sicherheitskreis als geschlossen detektiert SCDC).If an external device has opened the safety circuit 3, the transition to state 1 (normal driving state) is triggered. (Event safety circuit detected as closed SCDC).

Sobald der Zustand 3 (Kreis mit einer 3) mit dem Ereignis Geschwindigkeit der Aufzugskabine kleiner v stand_still (abs(vel) < vstand_still) erreicht wird, wird die momentane Position der Aufzugskabine als Stillstandsposition abgespeichert, wobei die Mikroprozessoren µPA, µPB die aktuellen Daten des Messsystems 5A, 5B aufbereiten und die Stillstandsposition der Aufzugskabine bestimmen. Falls bei geöffnetem Sicherheitskreis 3 die Aufzugskabine eine bestimmte Abweichung stand_still_tolerance (beispielsweise 50 mm) von der Stillstandsposition überschreitet, wird der Übergang in den Zustand 4 (Bremszustand mit Bremse) ausgelöst.As soon as the state 3 (circle with a 3) with the event speed of the elevator car smaller than stand_still (abs (vel) <v stand_still ) is reached, the current position of the elevator car is stored as a standstill position, the microprocessors .mu.PA, .mu.PB the current data of the measuring system 5A, 5B prepare and determine the standstill position of the elevator car. If the elevator car exceeds a certain deviation stand_still_tolerance (eg 50 mm) from the standstill position when the safety circuit 3 is open, the transition to state 4 (brake state with brake) is triggered.

Nach einer bestimmten Zeit, beispielsweise 2s, im Zustand Stillstandsüberwachung werden die Aktuatoren 4A,4B aktiviert (Ereignis mindestens 2s Stillstand ST2S). In Fig. 2 ist die Aktion Sicherheitskreis 3 schliessen mit Relais schliessen CR in einem Rechteck symbolisiert. Das Ereignis Sicherheitskreis als geschlossen detektiert SCDC (detektiert von den Mikroprozessoren µPA, µPB) löst einen Übergang von Zustand 3 in Zustand 1 aus. Zustand 2 oder Zustand 3 kann den Übergang in den Bremszustand mit Bremse (Kreis mit einer 4) auslösen. Im Bremszustand ist die direkt auf die Tragseile der Aufzugskabine einwirkende Bremse aktiviert, wobei mindestens ein Aktuator 14A, 14B deaktiviert ist. Im aktivierten Zustand der Bremse erzeugen Druckfedern die Bremskraft an den Tragseilen. Zum Lüften der Bremse werden die Aktuatoren 14A, 14B aktiviert und der Aktuator 8 gemäss Fig. 1 mit Strom versorgt, wobei die Druckluft entgegen der Federkraft wirkt und die Bremse lüftet. Wie in Fig. 2 gezeigt, kann der Zustand 4 nicht verlassen werden. Eine Rücksetzung des Zustandes 4 kann nur durch aus-/einschalten der Netzspannung erfolgen.After a certain time, for example 2 s, in the standstill monitoring state, the actuators 4A, 4B are activated (event at least 2s standstill ST2S). In Fig. 2 is the action safety circuit 3 close with relay close CR symbolized in a rectangle. The event safety circuit detected as closed SCDC (detected by the microprocessors μPA, μPB) triggers a transition from state 3 to state 1. State 2 or state 3 can trigger the transition to the braking state with brake (circle with a 4). In the braking state, the brake acting directly on the suspension cables of the elevator car is activated, wherein at least one actuator 14A, 14B is deactivated. In the activated state of the brake, compression springs generate the braking force on the suspension cables. For releasing the brake, the actuators 14A, 14B are activated and the actuator 8 according to Fig. 1 powered, the compressed air acts against the spring force and releases the brake. As in Fig. 2 shown, the state 4 can not be left. A reset of state 4 can only be done by switching the mains voltage off / on.

Die in den Fig. 2 und 3 gezeigten Schritte sind codiert im Programmspeicher 12A, 12B abgelegt und werden von den Mikroprozessoren µPA, µPB ausgeführt.The in the FIGS. 2 and 3 The steps shown are stored in coded form in the program memory 12A, 12B and are executed by the microprocessors .mu.PA, .mu.PB.

Zur Bestimmung der als Übergeschwindigkeit vos der Aufzugskabine bezeichneten Geschwindigkeitslimite wird eine Lernfahrt durchgeführt, wobei die Aufzugskabine beipielsweise in Aufwärtsrichtung mit Nominalgeschwindigkeit verfahren wird und dabei die vom Messsystem 5A, 5B gemessene Geschwindigkeit als vknm abgespeichert. Erfasst wird auch die Fahrtrichtung der Aufzugskabine, was für die Zählrichtung des Messsystems 5A, 5B von Bedeutung ist. Die Übergeschwindigkeit vos wird bezogen auf die Nominalgeschwindigkeit vknm und liegt beispielsweise 10% über der Nominalgeschwindigkeit vknm. Die Stillstandsgeschwindigkeit vstand_still wird bezogen auf die Nominalgeschwindigkeit vknm und wird beispielsweise wie folgt festgelegt:

  • vstand_still = vknm/32 für Aufzüge mit vknm 1m/s .. 1,75m/s
  • vstand_still = vknm/16 für Aufzüge mit vknm 0,5m/s .. 0,99m/s
  • vstand_still = vknm/8 für Aufzüge mit vknm 0,25m/s .. 0,49m/s
For the determination of as a speed v os of the elevator car speed limits specified is performed, a learning journey, the elevator car is moved Example, in the upward direction at nominal speed while keeping the temperature measured by the measuring system 5A, 5B speed stored as v knm. Also included is the direction of travel of the elevator car, which is important for the counting direction of the measuring system 5A, 5B. The overspeed becomes v os based on the nominal velocity v knm and is for example 10% above the nominal velocity v knm . The standstill speed v stand_still is related to the nominal speed v knm and is defined, for example, as follows:
  • v stand_still = v knm / 32 for elevators with v knm 1m / s .. 1,75m / s
  • v stand_still = v knm / 16 for elevators with v knm 0,5m / s .. 0,99m / s
  • v stand_still = v knm / 8 for elevators with v knm 0,25m / s .. 0,49m / s

Die Überwachung der Stillstandsposition der Aufzugskabine ist insbesondere beim Ein- und Aussteigen bzw. bei offener Kabinentüre und Schachttüre von Bedeutung. Normalerweise ist bei einem Stockwerkhalt die Schwelle der Kabinentüre in der Höhe etwa bündig mit der Schwelle der Schachttüre. Verlässt die Aufzugskabine ihre Stillstandsposition, so entsteht zwischen den Schwellen ein Höhenunterschied, der beim Ein- und Aussteigen zu Unfällen führen kann. Im Extremfall kann zwischen der Aufzugskabine und dem Stockwerk ein Spalt und somit ein offener Aufzugsschacht entstehen.The monitoring of the standstill position of the elevator car is particularly important when entering and exiting or when the car door and shaft door open. Normally, in the case of a floor stop, the threshold of the car door is approximately flush with the threshold of the shaft door. If the elevator car leaves its standstill position, a height difference arises between the sleepers, which can lead to accidents when entering and exiting. In extreme cases, a gap and thus an open elevator shaft can arise between the elevator car and the floor.

Claims (5)

  1. Detection system (1) for monitoring the speed of a lift cage, comprising
    - a measuring system (5A, 5B), which is constructed to detect a movement of the drive pulley driving the lift cage and a counterweight, and
    - a computer (2), which is constructed to evaluate signals of the measuring system (5A, 5B) and in the case of an impermissible deviation of the speed of the lift cage from a speed preset to initiate a retardation process and open a safety circuit (3),
    characterised in the detection system (1) is constructed to monitor, after a defined time (time 3) from a time instant of zero of the safety circuit (3) detected as open, whether the speed of the lift cage is lower than a standstill speed (Vstand_still).
  2. Detection system (1) according to clam 1, characterised in that the detection system (1) is constructed to close the safety circuit (3) after a specific time of standstill monitoring.
  3. Detection system (1) according to one of claims 1 and 2, characterised in that the computer (2) and the measuring system (5A, 5B) are of two-channel format, wherein the computer (2) switches on and off by way of two channels the safety circuit (3) of the lift or actuators (8) of a brake, and detects signals of sensors (6, 7) of the brake.
  4. Method of monitoring the speed of a lift cage, wherein by means of a measuring system (5A, 5B) and a computer (2) the movement of the drive pulley driving the lift cage and a counterweight is detected and signals of the measuring system (5A, 5B) are evaluated, wherein in the case of an impermissible deviation of the speed of the lift cage from a speed preset a safety circuit (3) is opened and a retardation process initiated, characterised in that after a specific time (time 3) from a time instant of zero of the safety circuit (3) detected as opened it is monitored whether the speed of the lift cage is lower than a standstill speed (Vstandstill).
  5. Method according to claim 4, characterised in that as soon as the standstill speed (vstand_still) is reached, a standstill monitoring is triggered, which after a specific time of standstill monitoring closes the safety circuit (3).
EP06112647.0A 2005-04-21 2006-04-13 Elevator speed control system Active EP1714933B1 (en)

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EP06112647.0A EP1714933B1 (en) 2005-04-21 2006-04-13 Elevator speed control system

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Publication number Priority date Publication date Assignee Title
CN103459287A (en) 2011-02-28 2013-12-18 奥的斯电梯公司 Elevator car movement control in a landing zone

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Publication number Priority date Publication date Assignee Title
JPS5255148A (en) * 1975-10-29 1977-05-06 Mitsubishi Electric Corp Speed control system for elevator
JPS5299546A (en) * 1976-02-16 1977-08-20 Mitsubishi Electric Corp Speed control device for elevator
JPS598622B2 (en) * 1976-05-27 1984-02-25 三菱電機株式会社 Elevator speed control device
JPS5465322A (en) * 1977-11-04 1979-05-25 Hitachi Ltd Motor speed control system

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