EP1880966B1 - Steuervorrichtung für aufzug - Google Patents

Steuervorrichtung für aufzug Download PDF

Info

Publication number
EP1880966B1
EP1880966B1 EP05739332.4A EP05739332A EP1880966B1 EP 1880966 B1 EP1880966 B1 EP 1880966B1 EP 05739332 A EP05739332 A EP 05739332A EP 1880966 B1 EP1880966 B1 EP 1880966B1
Authority
EP
European Patent Office
Prior art keywords
elevator
velocity
sheaves
control devices
control device
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
EP05739332.4A
Other languages
English (en)
French (fr)
Other versions
EP1880966A1 (de
EP1880966A4 (de
Inventor
Yoshitaka Mitsubishi Denki K. K. KARIYA
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
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
Publication of EP1880966A1 publication Critical patent/EP1880966A1/de
Publication of EP1880966A4 publication Critical patent/EP1880966A4/de
Application granted granted Critical
Publication of EP1880966B1 publication Critical patent/EP1880966B1/de
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

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

Definitions

  • the present invention relates to an elevator control device having a plurality of sheaves and motors for driving the respective sheaves.
  • a conventional elevator of this kind includes, for example, as shown in Patent Document 1, a main cable for linking a cage with a balance weight, a plurality of sheaves, which the main cable is wound around, a plurality of motors for respectively driving the sheaves, and a plurality of velocity control devices for controlling torques of the motors, respectively, and performs required operation modes in accordance with velocity command values to the velocity control devices.
  • Patent Document 1 a main cable for linking a cage with a balance weight, a plurality of sheaves, which the main cable is wound around, a plurality of motors for respectively driving the sheaves, and a plurality of velocity control devices for controlling torques of the motors, respectively, and performs required operation modes in accordance with velocity command values to the velocity control devices.
  • Patent Document JP-S-5922867 presents an elevator control system for two sheaves/two motors operating a single elevator cable. This system relies on speed feedback from the motors.
  • Patent Document 1 JP-A-55-106971
  • the velocity of the main cable is usually controlled to be even through the portions wound around respective sheaves.
  • the tension between the both sheaves may be lowered to cause slack in the main cable, which causes "missing traction" in one of the sheaves to cause the sheave to make idle rotation, resulting in failure of elevator driving.
  • "missing traction” denotes a condition in which the traction between the sheave and the main cable is reduced, for some reasons, to cause the main cable to slip and the sheave to make idle rotation.
  • the invention has been made for solving the problem as described above, and has an object of preventing the missing traction of sheaves in an elevator including a plurality of sheaves and motors for driving the respective sheaves, thereby enhancing safety of the elevator.
  • An elevator control device includes a main cable linking a cage with a balance weight, a plurality of sheaves around which the main cable is wound, a plurality of motors driving the respective sheaves, a plurality of velocity control devices controlling torque of the respective motors, an error detection device which compares torque command values of the velocity control devices and outputs an error signal based on assumption that missing traction arises in either of the sheaves in response to the difference exceeding a predetermined reference value, wherein, a necessary operation mode is performed in accordance with the velocity command value to the velocity control devices, and the velocity command value to the velocity control devices is changed in accordance with the operation mode at the time when the error detection device outputs the error signal.
  • an elevator including a plurality of sheaves and motors for driving the respective sheaves, idle rotation of a certain sheave caused by the missing traction can be detected. And, by making the elevator run with the lowered acceleration, constant speed, or deceleration in accordance with the running condition of the elevator, it becomes possible to make the elevator recover from the missing traction error and run, or to stop the elevator quickly before a secondary malfunction is caused if the elevator cannot recover from the missing traction error, thus a safer elevator control device can be provided.
  • a cage 1 and a balance weight 2 are connected to each other with a main cable 3, which is wound around two sheaves 4a, 4b driven by respective hoisting motors 5a, 5b.
  • a velocity command value for the elevator cage is provided from a velocity command generating device 7 to velocity control devices 6a, 6b of the respective hoisting motors 5a, 5b, and then each of the velocity control devices 6a, 6b gives the torque command value to respective one of the hoisting motors 5a, 5b so as to follow the velocity command value to control its output torque, and runs the elevator cage 1 by hoisting the main cable 3 by driving respective one of the sheaves 4a, 4b.
  • An error detection device 8 compares the torque command values ⁇ a and ⁇ b with each other, which are the output signals of the respective velocity control devices 6a, 6b.
  • the error detection device 8 determines the missing traction error, and outputs an error signal to the velocity command generating device 7 to cause the velocity command generating device 7 to change the velocity command value a and the velocity command value b in accordance with the operating mode of the elevator at that moment.
  • Fig. 2 shows a specific configuration of the error detection device 8, and Fig. 3 shows state of the signals in respective sections at the moment of the error detection.
  • is calculated by an operation unit 81 from the torque command values ⁇ a, ⁇ b as the output signals of respective velocity control devices 6a, 6b and is input to a comparator 82.
  • ⁇ a ⁇ b is generally satisfied while the elevator runs normally.
  • the sheave 4b makes idle rotation to cause the torque command value ⁇ b to be lowered.
  • the torque command value ⁇ a rises. Therefore,
  • a latching circuit 83 is arranged to latch it as the error signal if the error judgment flag lasts for a certain period of time t1 (C in Fig. 3 ). Thus, the missing traction in the sheave 4b can be detected.
  • the diameters of the sheaves 4a, 4b are arranged to be the same, if the diameters of the sheaves 4a, 4b are Da and Db, respectively, different from each other, it is sufficient that the comparator 82 compares
  • Fig. 4 is a flowchart for explaining the operation of the embodiment 1 of the invention. Firstly, whether or not the elevator is running is judged in the step 100, and if it is running, whether or not the missing traction error is detected is judged in the step 200. If the missing traction is detected, the operation mode is then judged. Whether or not it is accelerated is first judged in the step 300, if it is accelerated, it is made run with lowered acceleration in the step 301. If it is not accelerated, whether or not it is running with a constant speed is judged next in step 310. If it is running with a constant speed, it is made run with a lowered speed. If it is not running with a constant speed, it must be decelerated.
  • step 320 whether or not the enough distance for deceleration remains is judged in the step 320, and if the enough distance for deceleration remains, it is made run with lowered deceleration in the step 321. If the enough distance for deceleration does not remain, the elevator is stopped quickly in the step 700.
  • the acceleration, the constant speed, or the deceleration is lowered (slowdown) in the steps 301, 311, or 321, respectively, and then whether or not a constant time period t 2 has elapsed is judged in the step 400, and after the constant time period of t 2 has elapsed, whether or not the following is satisfied is judged in the step 500.
  • > T If the following is satisfied, it is assumed that it is recovered from the missing traction error in the step 600, and running is continued.

Landscapes

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

Claims (7)

  1. Aufzugsteuervorrichtung, umfassend:
    ein Hauptseil (3), das eine Aufzugkabine (1) mit einem Gegengewicht (2) verbindet;
    eine Vielzahl von Seilrollen (4a, 4b), um welche das Hauptkabel (3) gewunden ist;
    eine Vielzahl von Motoren (5a, 5b), welche die jeweiligen Seilrollen (4a, 4b) antreiben;
    eine Vielzahl von Geschwindigkeits-Steuervorrichtungen (6a, 6b), die ein Drehmoment der jeweiligen Motoren (5a, 5b) steuern; und
    gekennzeichnet durch
    eine Fehlerdetektionsvorrichtung (8), die Drehmoment-Befehlswerte der Geschwindigkeits-Steuervorrichtungen (6a, 6b) und Ausgaben eines Fehlersignals vergleicht, basierend auf der Annahme, dass eine fehlende Traktion in einer der Seilrollen (4a, 4b) auftritt, in Reaktion darauf, dass die Differenz einen vorbestimmten Referenzwert übersteigt,
    wobei ein notwendiger Betriebsmodus in Übereinstimmung mit dem Geschwindigkeits-Befehlswert an die Geschwindigkeits-Steuervorrichtungen (6a, 6b) durchgeführt wird, und
    der Geschwindigkeits-Befehlswert an die Geschwindigkeits-Steuervorrichtungen (6a, 6b) in Übereinstimmung mit dem Betriebsmodus in Reaktion auf die das Fehlersignal ausgebende Fehlerdetektionsvorrichtung (8) verändert wird.
  2. Aufzugsteuervorrichtung gemäß Anspruch 1, wobei die Vielzahl von Seilrollen (4a, 4b) aus ersten und zweiten Seilrollen (4a, 4b) aufgebaut ist, die Durchmesser Da bzw. Db aufweisen, die sich voneinander unterscheiden, und die Fehlerdetektionsvorrichtung (8) das Fehlersignal basierend auf der folgenden Formel ausgibt | Da × τ a − Db × τ b | > T'
    Figure imgb0007
    wobei τa: ein Drehmomentbefehlswert aus der Geschwindigkeits-Steuervorrichtung (6a) für den die erste Seilrolle (4a) antreibenden Motor (5a),
    τb: ein Drehmomentbefehlswert aus der Geschwindigkeits-Steuervorrichtung (6b) für den die zweite Seilrolle (4b) antreibenden Motor (5b),
    T': ein vorbestimmter Referenzwert.
  3. Aufzugsteuervorrichtung gemäß einem der Ansprüche 1 und 2, wobei der Aufzug rasch in Reaktion darauf gestoppt wird, dass die Fehlerdetektionsvorrichtung (8) das Fehlersignal ausgibt.
  4. Aufzugsteuervorrichtung gemäß einem der Ansprüche 1 und 2, wobei der Aufzug bei einer konstanten Geschwindigkeit fährt und die Geschwindigkeit des Aufzugs in Reaktion darauf gesenkt wird, dass die Fehlerdetektionsvorrichtung (8) das Fehlersignal ausgibt.
  5. Aufzugsteuervorrichtung gemäß einem der Ansprüche 1 und 2, wobei der Aufzug entweder beschleunigt oder verlangsamt wird, und entweder die Beschleunigung oder die Verlangsamung des Aufzugs in Reaktion darauf gesenkt wird, dass die Fehlerdetektionsvorrichtung (8) das Fehlersignal ausgibt.
  6. Aufzugsteuervorrichtung gemäß einem der Ansprüche 4 und 5, wobei die Drehmomentbefehlswerte der Geschwindigkeits-Steuervorrichtungen (6a, 6b) verglichen werden nach Senken der Geschwindigkeit, der Beschleunigung oder der Verlangsamung des Aufzugs, und der Aufzug rasch in Reaktion darauf gestoppt wird, dass die Differenz höher als der Referenzwert bleibt.
  7. Verfahren des Steuerns eines Aufzugs, umfassend:
    Bereitstellen eines Hauptseils (3), das einen Käfig (1) mit einem Gegengewicht (2) verbindet;
    Bereitstellen einer Vielzahl von Seilrollen (4a, 4b), um welche das Hauptkabel (3) gewunden ist;
    Bereitstellen einer Vielzahl von Motoren (5a, 5b), welche die jeweiligen Seilrollen (4a, 4b) antreiben;
    Bereitstellen einer Vielzahl von Geschwindigkeits-Steuervorrichtungen (6a, 6b), die ein Drehmoment der jeweiligen Motoren (5a, 5b) steuern;
    Durchführen eines notwendigen Betriebsmodus in Übereinstimmung mit dem Geschwindigkeits-Befehlswert an die Geschwindigkeits-Steuervorrichtungen (6a, 6b), gekennzeichnet durch
    Vergleichen der Drehmoment-Befehlswerte der Geschwindigkeits-Steuervorrichtungen (6a, 6b); und
    Ändern des Geschwindigkeits-Befehlswerts an die Geschwindigkeits-Steuervorrichtungen (6a, 6b), um ein rasches Stoppen des Aufzugs, Senken der Geschwindigkeit des Aufzugs, Senken der Beschleunigung des Aufzugs oder Senken der Verlangsamung des Aufzugs in Übereinstimmung mit dem Betriebsmodus in Reaktion darauf durchzuführen, dass die Differenz einen vorbestimmten Wert übersteigt.
EP05739332.4A 2005-05-11 2005-05-11 Steuervorrichtung für aufzug Expired - Fee Related EP1880966B1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2005/008624 WO2006120737A1 (ja) 2005-05-11 2005-05-11 エレベータの制御装置

Publications (3)

Publication Number Publication Date
EP1880966A1 EP1880966A1 (de) 2008-01-23
EP1880966A4 EP1880966A4 (de) 2012-12-19
EP1880966B1 true EP1880966B1 (de) 2017-12-20

Family

ID=37396260

Family Applications (1)

Application Number Title Priority Date Filing Date
EP05739332.4A Expired - Fee Related EP1880966B1 (de) 2005-05-11 2005-05-11 Steuervorrichtung für aufzug

Country Status (4)

Country Link
EP (1) EP1880966B1 (de)
JP (1) JP4919800B2 (de)
CN (1) CN1953923B (de)
WO (1) WO2006120737A1 (de)

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2010103643A1 (ja) * 2009-03-12 2010-09-16 三菱電機株式会社 エレベータ装置
CN101857157B (zh) * 2010-06-02 2012-04-11 中国科学院自动化研究所 一种吊篮自动控制系统
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
FI20115246A0 (fi) * 2011-03-11 2011-03-11 Kone Corp Hissijärjestelmä
JP5865037B2 (ja) * 2011-11-28 2016-02-17 株式会社日立製作所 エレベータの運行管理システム
CN102730567B (zh) * 2012-07-09 2014-04-16 中联重科股份有限公司 起升控制设备、方法、系统以及起重机
DE102012218612A1 (de) 2012-10-12 2014-04-30 Continental Automotive Gmbh Motorsteuerung und Verfahren zum feldorientierten Regeln eines Elektromotors
CN102942098A (zh) * 2012-11-09 2013-02-27 江苏大学 一种双电机电梯曳引系统及其控制方法
EP3337745B1 (de) 2015-08-19 2020-02-05 Otis Elevator Company Aufzugssteuerungssystem und verfahren zum betrieb eines aufzugssystems
CN109153537B (zh) * 2016-05-23 2021-03-12 三菱电机株式会社 电梯装置
JP6673523B2 (ja) * 2017-02-27 2020-03-25 三菱電機株式会社 エレベーターの故障監視装置及びエレベーターの群管理装置

Family Cites Families (14)

* 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
JPS6037219B2 (ja) * 1983-03-28 1985-08-24 株式会社ニッセン 液流式繊維製品処理装置における繊維製品の液流搬出装置
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
FI84050C (fi) * 1988-04-18 1991-10-10 Kone Oy Foerfarande foer kontroll av friktionen mellan drivskiva och baerlinor till en hiss.
JPH0294875U (de) * 1989-01-13 1990-07-27
JPH0733228B2 (ja) * 1989-08-07 1995-04-12 三菱電機株式会社 エレベーターの異常検出装置
JPH0725553A (ja) * 1993-07-09 1995-01-27 Mitsubishi Electric Corp エレベータの制御システム
JPH092752A (ja) * 1995-06-20 1997-01-07 Hitachi Building Syst Eng & Service Co Ltd エレベータの診断装置
JPH0940333A (ja) * 1995-08-02 1997-02-10 Meidensha Corp 垂直搬送装置のすべり検出装置
JP4656692B2 (ja) * 2000-05-09 2011-03-23 東芝エレベータ株式会社 エレベータの制御装置
EP1500621A4 (de) * 2002-05-01 2011-03-16 Mitsubishi Electric Corp Mechanismus und verfahren zum heraufziehen/absenken eines aufzugs
JP2004149231A (ja) * 2002-10-29 2004-05-27 Mitsubishi Electric Building Techno Service Co Ltd エレベータの非常停止装置
JP4267335B2 (ja) * 2003-01-30 2009-05-27 三菱電機株式会社 エレベータの制動制御装置
JP2004345751A (ja) * 2003-05-20 2004-12-09 Fujitec Co Ltd エレベータの安全装置

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
None *

Also Published As

Publication number Publication date
EP1880966A1 (de) 2008-01-23
JPWO2006120737A1 (ja) 2008-12-18
EP1880966A4 (de) 2012-12-19
WO2006120737A1 (ja) 2006-11-16
CN1953923A (zh) 2007-04-25
JP4919800B2 (ja) 2012-04-18
CN1953923B (zh) 2011-05-18

Similar Documents

Publication Publication Date Title
EP1880966B1 (de) Steuervorrichtung für aufzug
CN100455501C (zh) 电梯安全装置
EP2165960B1 (de) Aufzug
EP1918237B1 (de) Vorrichtung zur aufzugsbetriebssteuerung
JP4373507B2 (ja) エレベータ装置及びエレベータ装置の運転方法
EP1975110A1 (de) Aufzugssteuersystem
JP2006298538A (ja) エレベータ装置
JP2011042480A (ja) エレベータ装置
EP2246285B1 (de) Aufzugssystem
JP4973014B2 (ja) エレベータの地震管制運転システム
WO2015190764A1 (ko) 에스컬레이터의 안전 운행 정지 방법
EP2147883A1 (de) Aufzugsvorrichtung
JPH0733228B2 (ja) エレベーターの異常検出装置
JP4633351B2 (ja) エレベータの表示システム及び同システムに用いられる情報表示装置
KR100844671B1 (ko) 엘리베이터의 제어 장치
JP2003182945A (ja) エレベータの制動力測定装置および測定方法
JP2002020046A (ja) エレベーターの床合せ装置
CN112744660A (zh) 多轿厢电梯
JP4901446B2 (ja) エレベータ制御システム
KR900008165B1 (ko) 엘리베이터의 제어장치
JP2004345751A (ja) エレベータの安全装置
KR100240968B1 (ko) 엘리베이터 제어 장치
KR101261790B1 (ko) 전동기 제어방법
JP3008362B2 (ja) エレベータの異常検出装置
JP3061502B2 (ja) エレベータの制動力点検装置

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 20061013

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): NL

RBV Designated contracting states (corrected)

Designated state(s): NL

DAX Request for extension of the european patent (deleted)
RBV Designated contracting states (corrected)

Designated state(s): NL

A4 Supplementary search report drawn up and despatched

Effective date: 20121119

RIC1 Information provided on ipc code assigned before grant

Ipc: B66B 5/02 20060101ALI20121113BHEP

Ipc: B66B 1/28 20060101ALI20121113BHEP

Ipc: B66B 1/30 20060101AFI20121113BHEP

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

INTG Intention to grant announced

Effective date: 20170901

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): NL

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20171220

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20171220

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

26N No opposition filed

Effective date: 20180921