EP1767483B1 - Steuersystem für aufzug - Google Patents

Steuersystem für aufzug Download PDF

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Publication number
EP1767483B1
EP1767483B1 EP04747385A EP04747385A EP1767483B1 EP 1767483 B1 EP1767483 B1 EP 1767483B1 EP 04747385 A EP04747385 A EP 04747385A EP 04747385 A EP04747385 A EP 04747385A EP 1767483 B1 EP1767483 B1 EP 1767483B1
Authority
EP
European Patent Office
Prior art keywords
ropes
control system
tensions
elevator
hoisting
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
EP04747385A
Other languages
English (en)
French (fr)
Japanese (ja)
Other versions
EP1767483A4 (de
EP1767483A1 (de
Inventor
Masanori Mitsubishi Denki Kabushiki Kaisha YASUE
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mitsubishi Electric Corp
Original Assignee
Mitsubishi Electric Corp
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Filing date
Publication date
Application filed by Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
Publication of EP1767483A1 publication Critical patent/EP1767483A1/de
Publication of EP1767483A4 publication Critical patent/EP1767483A4/de
Application granted granted Critical
Publication of EP1767483B1 publication Critical patent/EP1767483B1/de
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
    • B66B1/28—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical
    • B66B1/285—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical with the use of a speed pattern generator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
    • B66B1/28—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical
    • B66B1/30—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical effective on driving gear, e.g. acting on power electronics, on inverter or rectifier controlled motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B9/00—Kinds or types of lifts in, or associated with, buildings or other structures

Definitions

  • the present invention relates to a control system for an elevator which employs two (or more) hoisting machines for driving a single car.
  • a hoisting machine is installed between a moving space of a car and a wall of a hoistway, so there has been demanded a reduction in size of the hoisting machine.
  • some elevators have a hoisting machine disposed in a pit in a lower portion of a hoistway, or a hoisting machine disposed in a gap between a lateral wall of the hoistway and the car.
  • a control system for such the elevator two drive control systems each composed of a hoisting machine and a drive device are arranged, and each hoisting machine is controlled such that a rotational speed thereof follows a speed command from an operation control portion, based on the speed command (e.g., see Patent Document 1).
  • Document WO9943593 discloses an elevator system having two motors, two drive sheaves and two ropes, two counterweights respectively engaged with each rope at one of their ends and a cabin engaged with both ropes at their other ends. The rotation of the two motors is synchronized using a controller.
  • the present invention has been made to solve the problems regarding the foregoing conventional examples, and it is therefore an object of the invention to obtain a control system for an elevator which employs two (or more) hoisting machines to drive a single car and enables speed control while balancing rope tensions applied to the two hoisting machines with each other.
  • a control system for an elevator includes: two hoisting machines; two ropes looped around the two hoisting machines respectively; a car engaged with each of the two ropes at one end thereof; counterweights engaged with each of the two ropes at the other end thereof; a drive control device for driving the two hoisting machines; tension detectors for detecting respective rope tensions of the two ropes; and a compensator for outputting a feedback control signal to the drive control device in accordance with a difference between the tensions of the two ropes detected by the tension detectors to control rotational speeds of the hoisting machines with a view to balancing the rope tensions with each other.
  • the present invention makes it possible to perform speed control while balancing rope tensions applied to the two hoisting machines with each other.
  • Fig. 1 is a block diagram showing a configuration of a control system for an elevator according to a first embodiment of the present invention.
  • the control system for the elevator according to the present invention is equipped with two hoisting machines 4a and 4b, which are composed of hoisting motors 1a and 1b, brakes 2a and 2b, and sheaves 3a and 3b, respectively.
  • Ropes 5a and 5b are looped around the sheaves 3a and 3b, respectively.
  • Each of the ropes 5a and 5b is engaged at one end thereof with a car 6 via each of springs 8a and 8b, and connected at the other end thereof to each of counterweights 7a and 7b.
  • Rotational speeds of the hoisting machines 4a and 4b are detected by speed detectors 9a and 9b respectively.
  • Tensions of the ropes 5a and 5b are detected by load detectors 10a and 10b respectively.
  • the load detectors 10a and 10b each function as a weighing device for detecting a load within the car through measurement of an amount of displacement of a spring, which expands/contracts in response to an increase/decrease in load when a passenger gets on/off the car 6.
  • the amount of displacement of the spring is proportional to a rope tension, so the load detectors 10a and 10b each measure a rope tension and therefore function as tension detectors as well.
  • the hoisting motors 1a and 1b are drivingly controlled by a drive control device 11.
  • This drive control device 11 is composed of an operation control portion 12, speed control portions 13a and 13b, torque control portions 14a and 14b, and power converters 15a and 15b.
  • the operation control portion 12 determines a traveling pattern of the car 6, and issues a speed command.
  • the speed control portions 13a and 13b compare the speed command from the operation control portion 12 with speed values detected by the speed detectors 9a and 9b respectively, calculate torques to be output by the two hoisting motors 1a and 1b respectively, and issue torque commands.
  • the torque control portions 14a and 14b issue commands to control the torques generated by the hoisting motors 1a and 1b in accordance with the torque commands from the speed control portions 13a and 13b respectively.
  • the power converters 15a and 15b control the powers supplied to the hoisting motors 1a and 1b in accordance with the commands from the torque control portions 14a and 14b respectively.
  • control system for the elevator is equipped with a compensator 16, which outputs a feedback control signal to the drive control device 11 in accordance with a difference between the tensions of the two ropes detected by the load detectors 10a and 10b serving as tension detectors, and controls the rotational speeds of the hoisting motors 1a and 1b to balance the tensions of the ropes with each other.
  • the compensator 16 outputs a feedback control signal to the drive control device 11 to control the rotational speed of at least one of the hoisting machines only when the difference between the tensions of the two ropes detected by the load detectors 10a and 10b serving as the tension detectors has exceeded a predetermined value.
  • the compensator 16 operates to reduce the speed of that one of the hoisting motors which rotates faster due to the difference between the tensions of the ropes, and equalize this speed with the speed of the slower one of the hoisting motors.
  • Fig. 2 is a block diagram showing an internal configuration of the compensator 16. As shown in Fig. 2 , this compensator 16 compensates for a gain K 17 for the speed commands issued to a speed control portion 13 (a generic designation of the speed control portions 13a and 13b) from the operation control portion 12.
  • the compensator 16 is equipped with a compensation element 18, a dynamic compensation calculation portion 19, and an abnormality detecting portion 20.
  • the compensation element 18 issues a compensation amount of the gain K in accordance with a difference between tensions of the two ropes detected by the load detectors 10a and 10b serving as the tension detectors.
  • the dynamic compensation calculation portion 19 selects the slower one of the hoisting machines as a reference based on speed values detected by the speed detectors 9a and 9b and torque commands from the speed control portions 13a and 13b, and reduces the compensation amount of the gain K of the compensation element 18 to perform gain correction in the faster one of the hoisting machines, thereby equalizing the speeds of both the hoisting machines, namely, the tensions of the ropes with each other.
  • the dynamic compensation calculation portion 19 reduces the gain of the compensation element 18 and refrains from correcting the gain K, thereby making the gain K insensitive to a difference in torque, namely, an offset load.
  • the abnormality detecting portion 20 determines that there is an abnormality, and issues an emergency stop command.
  • the operation control portion 12 determines a traveling pattern of the car 6, and outputs a speed command to the speed control portion 13.
  • the speed control portion 13 compares a speed command from the operation control portion 12 with rotational speeds of the two hoisting machines 4a and 4b (the hoisting motors 1a and 1b) detected by the speed detectors 9a and 9b respectively, calculates torques to be output by the two hoisting motors 1a and 1b respectively, and issues torque commands to the torque control portions 14a and 14b respectively.
  • the torque control portions 14a and 14b operate the power converters 15a and 15b in accordance with the respective torque commands, thereby controlling the torques generated by the motors 1a and 1b respectively.
  • the rotational speeds of the hoisting machines 1a and 1b and the sheaves 3a and 3b are controlled according to a predetermined speed pattern, and the ropes 5a and 5b are driven in a tractive manner to carry the car 6 to a target floor.
  • the brakes 2a and 2b are actuated to stop rotation of the sheaves 3a and 3b, and the supply of power to the hoisting motors 1a and 1b is suspended to terminate a series of operations.
  • the springs 8a and 8b serve to prevent vibrations from being transmitted from the ropes 3a and 3b to the car 6 and ensure passengers of riding comfort.
  • the springs 8a and 8b are expanded/contracted in response to an increase/decrease in load when someone gets on/off the car 6. Therefore, a load within the car can be detected by measuring amounts of displacement of the springs.
  • the amounts of displacement of the springs are proportional to the tensions of the ropes. Therefore, the tensions of the ropes are measured when the amounts of displacement of the springs are measured respectively.
  • the load detectors 10a and 10b which make use of this principle for example, detect the tensions of the ropes 3a and 3b respectively. There are other methods of detecting the tensions of the ropes.
  • the present invention described herein does not depend on the method of detecting the tension of the ropes.
  • the compensator 16 outputs a feedback control signal to the drive control device 11 to control the rotational speed of at least one of the hoisting machines only when the difference between the tensions of the two ropes has exceeded the predetermined value.
  • the control system operates to reduce the speed of that one of the hoisting motors which rotates faster due to the difference between the tensions of the ropes and equalize this speed with the speed of the slower-rotating one of the hoisting motors.
  • the control system operates such that the compensation element 18 issues a compensation amount of the gain K for a speed command that is issued from the operation control portion 12 to the speed control portion 13 (generic designation of the speed control portions 13a and 13b) in accordance with the difference between the tensions of the two ropes, and that the dynamic compensation calculation portion 19 selects the slower one of the hoisting machines as a reference based on speed values detected by the speed detectors 9a and 9b and torque commands from the speed control portions 13a and 13b, reduces the compensation amount for the gain K of the compensation element, and performs gain correction of the faster one of the hoisting machines to thereby make the speeds of both the hoisting machines, namely, the tensions of the ropes coincide with each other.
  • the tensions of the ropes are controlled to be balanced with each other, so the following problem is not caused. That is, the car is prevented from being driven while being biased toward one of the hoisting machines. In other words, speed control can be performed while balancing the rope tensions applied to the two hoisting machines with each other.
  • the load detectors 10a and 10b serving as the weighing devices for detecting a load within the car also serve as the tension detectors, so the control system for the elevator can be configured at low cost. It is also possible to check whether or not there is an operational failure.
  • Feedback control is performed toward the lower one of the tensions of the ropes, so a design on the safe side can be realized through a compensation in a speed-reducing direction.

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Structural Engineering (AREA)
  • Elevator Control (AREA)
  • Lift-Guide Devices, And Elevator Ropes And Cables (AREA)

Claims (4)

  1. Steuersystem für einen Aufzug, wobei der Aufzug umfasst:
    zwei Hebemaschinen (1, 1b),
    zwei Seile (5a, 5b), die jeweils um die zwei Hebemaschinen gewunden sind,
    eine Kabine (6), die mit jedem der zwei Seile an einem Ende hiervon in Eingriff ist,
    Gegengewichte (7a, 7b), die mit jedem der zwei Seile in Eingriff sind, wobei das Steuersystem umfasst:
    eine Antriebssteuereinrichtung (11) zum Antreiben der zwei Hebemaschinen, dadurch gekennzeichnet, dass das Steuersystem ferner umfasst:
    Spannungsdetektoren (10a, 10b) zum Detektieren jeweiliger Seilspannungen der zwei Seile, und
    einen Kompensator (16) zum Ausgeben eines Rückkopplungssteuersignals zur Antriebssteuereinrichtung gemäß einer Differenz zwischen den durch die Spannungsdetektoren detektierten Spannungen der zwei Seile zum Steuern der Drehgeschwindigkeiten der Hebemaschinen im Hinblick auf ein miteinander Ausgleichen der Seilspannungen.
  2. Steuersystem für einen Aufzug gemäß Anspruch 1, dadurch gekennzeichnet, dass der Spannungsdetektor (10a, 10b) ebenso als eine Wiegeeinrichtung zum Detektieren einer Last in der Kabine dient.
  3. Steuersystem für einen Aufzug gemäß Anspruch 1, dadurch gekennzeichnet, dass der Kompensator (16) zum Herstellen einer Kompensation ein Rückkopplungssteuersignal zur Antriebssteuereinrichtung ausgibt, um die Drehgeschwindigkeit der Hebemaschine mit einer höheren Drehgeschwindigkeit gemäß der Differenz der durch die Spannungsdetektoren detektierten Spannungen der zwei Seile zu verringern, damit sie zur geringeren Drehgeschwindigkeit einer anderen Hebemaschine passt.
  4. Steuersystem für einen Aufzug gemäß einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass der Kompensator (16) ein Rückkopplungssteuersignal zum Steuern der Drehgeschwindigkeit von zumindest einer der Hebemaschinen zur Antriebssteuereinrichtung lediglich dann ausgibt, wenn die Differenz zwischen den durch die Spannungsdetektoren detektierten Spannungen der zwei Seile einen vorbestimmten Wert überschritten hat.
EP04747385A 2004-07-12 2004-07-12 Steuersystem für aufzug Expired - Fee Related EP1767483B1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2004/009918 WO2006006229A1 (ja) 2004-07-12 2004-07-12 エレベータの制御システム

Publications (3)

Publication Number Publication Date
EP1767483A1 EP1767483A1 (de) 2007-03-28
EP1767483A4 EP1767483A4 (de) 2010-03-31
EP1767483B1 true EP1767483B1 (de) 2011-02-16

Family

ID=35783595

Family Applications (1)

Application Number Title Priority Date Filing Date
EP04747385A Expired - Fee Related EP1767483B1 (de) 2004-07-12 2004-07-12 Steuersystem für aufzug

Country Status (5)

Country Link
EP (1) EP1767483B1 (de)
JP (1) JP4850708B2 (de)
CN (1) CN100522781C (de)
DE (1) DE602004031468D1 (de)
WO (1) WO2006006229A1 (de)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7748502B2 (en) * 2006-04-13 2010-07-06 Mitsubishi Electric Corporation Elevator apparatus
FI20060627L (fi) * 2006-06-28 2007-12-29 Kone Corp Järjestely vastapainottomassa hississä
JP5031299B2 (ja) * 2006-08-08 2012-09-19 三菱電機株式会社 エレベータ装置
EP2058261B1 (de) * 2006-12-05 2018-03-07 Mitsubishi Electric Corporation Aufzugsvorrichtung
JP5058310B2 (ja) * 2010-08-12 2012-10-24 株式会社日立ビルシステム エレベータ制御装置
CN101992976A (zh) * 2010-11-05 2011-03-30 沈阳建筑大学 一种高处作业吊篮自动控制系统
US20170362063A1 (en) 2014-12-31 2017-12-21 Otis Elevator Company Elevator system roping arrangement
EP3456674B1 (de) 2017-09-15 2020-04-01 Otis Elevator Company Schlaffheitsdetektionssystem eines aufzugsspannelements und verfahren zur durchführung eines not-aus-betriebs eines aufzugssystems

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5922867A (ja) * 1982-07-29 1984-02-06 三菱電機株式会社 ロ−プ式エレベ−タ
JPH0684233B2 (ja) * 1986-03-05 1994-10-26 株式会社日立製作所 エレベーター装置及びその運転制御方法
KR950002524B1 (ko) * 1990-06-11 1995-03-21 미쓰비시덴키가부시키가이샤 엘리베이터 제어장치
JPH04341494A (ja) * 1991-05-17 1992-11-27 Kawasaki Heavy Ind Ltd ４点吊り同調制御方法
JPH0742063B2 (ja) * 1992-07-17 1995-05-10 三菱電機株式会社 エレベータ駆動システム
JPH0725553A (ja) * 1993-07-09 1995-01-27 Mitsubishi Electric Corp エレベータの制御システム
JP3500013B2 (ja) * 1996-09-12 2004-02-23 三菱重工業株式会社 冗長自由度同期制御方法及び装置
WO1999043593A1 (en) 1998-02-26 1999-09-02 Otis Elevator Company Elevator system with overhead drive motor
KR100619616B1 (ko) * 2002-09-11 2006-09-01 미쓰비시덴키 가부시키가이샤 엘리베이터의 제어장치

Also Published As

Publication number Publication date
EP1767483A4 (de) 2010-03-31
DE602004031468D1 (de) 2011-03-31
CN100522781C (zh) 2009-08-05
CN1953922A (zh) 2007-04-25
JPWO2006006229A1 (ja) 2008-04-24
EP1767483A1 (de) 2007-03-28
WO2006006229A1 (ja) 2006-01-19
JP4850708B2 (ja) 2012-01-11

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