FI111931B - Hoisting motor control in lift with several landings - Google Patents

Abstract

The control of the hoisting motor (5) in a lift involves the motor drive output (25) being generated by using a speed reference and an angular speed signal and or angle signal (23) proportional to the rotation of the motor as a feedback signal and the position of the lift car (1) w.r.t. the landing. The output is measured using a sensor (10) fitted to the lift and producing a position signal (21) proportional to the height difference between the landing and the floor of the lift car. The position signal is a continuous signal utilised to generate a reference to control the hoisting motor when the car is at or close to a landing.

Description

The present invention relates to an apparatus as defined in the preamble of claim 1 and to a method of controlling a hoist motor in an elevator as defined in the preamble of claim 6.

Elevator speed control is problematic at low speeds when the elevator 10 is approaching the floor level to stop or is moving from the floor level. The problem is precisely the lack of correct, sufficiently accurate and timely feedback information about the location of the elevator car and / or the retail space.

15 The torque needed to overcome sleep friction at the departure of the lift should be able to reduce in time the body movement and system movement frictions to a torque, but since there is no direct information on the body speed level, rest the corresponding moment easily 'on' for too long. This easily results in an output spin when the car starts to move, which continues in damping vibration. Moving from a rest friction situation to a: \. 25 where frictional motion prevails is particularly difficult to control: * ·. Elevator Cruise Control Feedback -.:. the DC element has been traditionally used as a DC element,. * ··. the voltage of which is directly proportional to the speed of rotation of the motor, whereupon the vertical speed of the elevator - * "is obtained. 3-D speed. Based on the observation on the motor axis, it is virtually impossible to correct the large vibrations to solve this problem, an acceleration sensor in the car ... 35, whose acceleration message, ···, would be transformed into a car speed message to further control the car's speed and not the engine speed, but the acceleration sensor is expensive and sensitive as a component. and its »· · • · 2 111931 signal requires a high quality amplifier to provide a sufficiently reliable signal.

The lift output layout has traditionally used an electronic 5 horizontal device that measures the torque acting on the motor shaft via brake shoes. The horizontal data is supplied to an adjuster which controls the motor torque so as to cancel the torque due to the load, i.e. the torque acting on the horizontal device is set to zero. However, such an output layout 10 requires expensive mechanical solutions for the machine brake shoes, the horizontal elements are vulnerable to damage, and each time the elevator is commissioned, it is required to calibrate the horizontal electronics to suit each elevator.

15 One of the reasons for the problems is the lack of proper positioning information when driving near the floor level at low speeds, ie near zero speed. Although the tachometer signal provides a good resolution of velocity information at low speeds, the position information obtained from the tachometer signal relative to the floor level 20 may be significantly different from the actual position of the elevator car.

In order to meet the above-mentioned needs and to solve problems, the present invention provides an apparatus and method for controlling a hoisting motor in an elevator. The apparatus according to the invention is characterized by what is stated in the characterizing part of claim 1. The process according to the invention is characterized by what is stated in the characterization part '·' of claim 6. Other embodiments of the invention are characterized by what is stated in the other claims.

The invention can provide advantages e.g. as follows: -The solution according to the invention is simple to implement with the present -... because of microprocessor based control systems.

35; Even at low speeds, the platform speed information is obtained without the addition of additional sensors by calculating the position of the platform, i ': -The starting momentum is reduced when the elevator starts to move. Since the speed of the car provides feedback to the speed controller 3111931 throughout the starting event, for example, the moment of resting friction 1 of the car's slide controls 1, i.e. even the slightest movement of the car, is also detected in time. In this case, the engine torque can be adjusted in time to match the body speed.

5 - Possible post-oscillation reverberation can be eliminated by actively adjusting the motor based on the actual information of the oscillation.

-Excellent and fast output layout without expensive additional electronics.

With the service brake of a lift with or without a motor, no separate horizontal elements are required, nor are they required to be calibrated.

The invention is well suited for use in a precision setting. -When departing from the floor level, 15 correct feedback signals are quickly obtained from the elevator movement.

The invention is applicable to elevator modernization, whereby the leveling of the elevator and the performance characteristics of the departure can be improved in a simple manner.

20

The invention will now be described in more detail with reference to the accompanying drawings, in which: · Fig. 1 schematically illustrates an embodiment of the invention: 25 elevators, Fig. 2 illustrates a signal from a linear sensor type, 'Fig. 3 shows a block diagram of Figure 4 shows a block diagram of another embodiment of the invention:. About the Application Form • # · • · «

The linear sensor is a component that provides a current proportional to the distance between the sensor and the reference pin, "35 messages. In the invention, this message is utilized in controlling and decelerating the elevator. Using the linear sensor, V, the position and speed of the elevator car result 4 111931 is used as a feedback signal in elevator lift motor control When preparing the elevator output and opening the brake arc, positioning data from the linear sensor can control the hoist motor to hold the elevator car in position 5 until the brake is actuated and the elevator actuates. X5810-X010-51 type sensor, which gives a linear signal proportional to the relative position of the sensor and the position reference magnet over a distance of 150mm.

Figure 1 schematically shows an elevator. The hoisting rope 3 has an elevator car 1 and a counterweight 2 hung on the hoisting rope. The drive wheel is rotated by a lifting motor 15. The movement of the drive wheel is obtained by means of a tachometer 6 located on the shaft 7 rotated by the lifting motor. The elevator serves a plurality of floor levels 8. The elevator car 1 includes 20 linear sensor-type sensors 10 which provide a signal depending on the mutual position of the sensor and the magnet. The sensor and the magnet are positioned relative to the elevator car and the floor plane so that the signal is linear when: the threshold of the elevator car and the plane are within a given distance window: 25 relative to each other. The drive wheel 4 has a brake surface 11 for the elevator brake shoe 12.

Fig. 2 shows a typical signal 13 provided by a linear sensor type sensor placed in the elevator car while the elevator 30 is traveling at a constant speed past the floor level. The resulting signal is: plotted against time. So I saw 7 moving in the elevator shaft! the position of the elevator car relative to the floor level is measured using a sensor in the elevator car which gives a position signal proportional to the height difference between the floor level and its floor height. “35 Using the position signal, an instruction can be generated to control the lift motor at the floor level and in the vicinity of the floor level.

5, 111931

Figure 3 illustrates an embodiment of the invention in a simple block diagram. At the start of the lift, the distance information 21 provided by the linear sensor 10 is read for use in motor control for generating a speed reference, that is, the mutual position of the car 1 and the tier 8 is directly detected. The output of the motor control pi regulator servo unit 22, i.e. the motor drive 25, is adjusted based on the signal 23 from the tachometer and the speed reference 24. The distance information 21 is scaled in the travel feedback signal scaling unit 26 to a signal s suitable for generating a rate instruction 10, which is a variable of Vref = f (s) whose instantaneous value is the instantaneous rate reference. At departure, the use of distance signal 21 to assist in generating rate reference 24 causes, for example, when the distance to the plane begins to increase from zero to positive 15, the instruction 5 forcing the car into its original position is initiated on the engine 5, the greater the positive distance . At the same time, the brake 12 is opened. The brake is preferably slow to release, i.e., the brake is released 20 more slowly than the time it would take before the feedback field change occurs when the elevator starts to move. Once the brake 12 has been opened, you can start driving at normal speed using the DC forge, etc., as the speed feedback. : The scaled signal s from the distance information 21 is used to set the output '<; 25 when the brake is released. When the brake is released, the driver starts and drives in accordance with the speed pattern established in the usual way.

* <»* · * Figure 4 shows another embodiment of the invention 30 in a simple block diagram. In the embodiment, various speed feedback signals are selected to be suitable for the elevator movement mode and position:. The feedback selection is made in the feedback selection and scaling unit 126, which selects the feedback signal 123 as either a tachometer signal "35 127" or a linear sensor signal 121. When exiting the level, the decision to switch between position feedback and speed feedback can be made. for example, because the set distance from the baseline has been reached or the set time of 6111931 has elapsed from the start.

The selection and scaling unit 126 also performs the necessary signal matching to fit the motor control circuit. The tachometer 6 provides a signal proportional to the speed of the lifting motor 127, 10, which is used as a feedback signal for most of the distance traveled by the elevator car 1 from the departure layer to the destination layer. When the elevator is starting or stopping, the distance information 121 regarding the elevator car 1 provided by the linear sensor 10 is read for use in the motor control feedback-15 cell.

At each floor level 8, the distance traveled by the car 1 is read accurately by the linear transducer 10. At the same time, the time spent traveling as the number of speed control periods is known, the speed of the 20 car can be calculated. When appropriately scaled, this speed is used for feedback of the cruise control, i.e., this provides feedback of motor control pi-servo-unit 122.

t *

It will be apparent to one skilled in the art that various embodiments of the invention are not limited to the above examples, but may vary within the scope of the following claims. For example, at the floor level, the distance measurement system may be based on more than magnetic field detection, such as an optical position sensor.

Similarly, it will be apparent to one skilled in the art that the motor drive may be .... otherwise formed.

'* 35 »*»

Claims (9)

Apparatus for controlling a hoisting motor (5) in an elevator having a plurality of floor planes (8), wherein a angular speed and / or angular signal (23,127) proportional to the rotation of the hoisting motor is used to form the motor drive output 5 (25,125); the position reference (9) and the elevator car (1) have a position reference sensor (10) for position reference, adapted to provide a position signal (21,121) proportional to the floor height of the floor level (8) and the elevator car (1), characterized in that (1) the location link is arranged to be substantially linear and continuous in the vicinity of the floor level, and that the 15 position signal can be coupled to the lift motor control when the elevator car is at floor level or near the floor level to form (25,125) Apparatus according to claim 1, characterized in that the location reference (9) is on each layer level (8). Apparatus according to claim 1 or 2, characterized in that the position signal (121) is a feedback signal from the lift motor control 25. Apparatus according to Claim 3, characterized in that the apparatus comprises a unit (126) adapted to select a feedback signal (123) from either one of * 1 · · ;; · 30 loop signals (127) or position signals (121). Apparatus according to claim 1 or 2, characterized in that the rate reference (Vref = f (s)) is formed as a function of::: the position signal (121). . ·. : 35 A method for controlling a hoisting motor (5) in an elevator having a plurality of floor planes (8) and using a angular speed and / or angular signal (23,127) (1) the position relative to the floor level (8) is measured using a sensor (10) in the elevator car adapted to provide a position signal (21,121) proportional to the height difference between the floor level and the elevator car floor, characterized by continuous monitoring of the elevator car real-time position change, and that an instruction (25,125) is provided using the position signal to control the lifting motor at 10 floor levels and in the vicinity of the floor plane when commencing or stopping. Method according to claim 6, characterized in that the position signal (121) is a feedback signal for the control of the lift motor. 7, 111931 A method according to claim 7, characterized in that the position signal (121) is selected as the feedback signal (123) at low speed in the vicinity of the layer level and the speed signal (127) is otherwise selected. A method according to claim 6, characterized in that a velocity reference (Vref = f (s)) is generated using the position signal (21). 25 I t · IS »i; : 1 i I · 9 111931