JP2001026379A - Elevator control system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To check vertical car vibration when elevators land at floors. SOLUTION: If balance control at an elevator start involves torque compensation, an arithmetic section 15 effects, when the elevator lands at a floor, not door-open-in-run control where the door is opened while the car is stopping but door-open-on-stop control where the door is opened after the car has stopped, which eliminates vertical car vibration that would otherwise occur when the elevator lands at floors.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an elevator control device for suppressing longitudinal vibration in a car which occurs when an elevator is landing on a floor.

[0002]

2. Description of the Related Art In a high-speed elevator in which a gear is not provided in a hoist, a running door opening control of landing while opening a door is performed in order to shorten a running time between floors and improve service. In the running door open control, the brake is closed in a state where the speed is zero at the time of landing, so that the hanging control is performed.

The elevator hanging control is such that the car and the counterweight are hung in a stationary state of the car, and is also performed at the time of starting the elevator.
Now, suppose that the elevator is located on the floor where the brake is applied and stopped. When a call is registered in the elevator in this state, the door starts closing to respond to the call,
Before the door is completely closed, a torque command is issued to the hoist motor to apply a torque commensurate with the car load. When the door is closed, the brakes are pulled and a command is issued to increase the speed. This causes the elevator to start moving.

In this case, in order to prevent suspension from occurring at the moment when the brake is released, suspension control is performed so that the elevator is once stopped and the speed of the elevator is kept at zero. That is, if the suspension is unbalanced when the brake is released, the car will move up or down. Therefore, the elevator control device adds a torque compensation value commensurate with the imbalance of the suspension so that the car and the counterweight are suspended. In this way, hanging control is performed when the elevator starts.

On the other hand, even when an elevator answers a call and arrives at a destination floor, hanging control is performed in the case of a high-speed elevator. This is because in the running door open control, the brake is applied at the time of landing at a speed of zero. The torque value applied to the hanging control at the time of landing is input by load data from the load detection device before the door is fully opened, and is set to an amount corresponding to the input load data.

[0006]

However, if the input load data is different from the actual load, the car will be subjected to longitudinal vibration because the load imbalance is not added to the torque command. That is, since the torque compensation value corresponding to the unbalance of the suspension is not added, when the torque command calculated based on the load data is larger than the actual load, an extra torque is issued and the car is pushed up.

On the other hand, when the torque command calculated based on the load data is smaller than the actual load, the torque becomes insufficient and the car is lowered. As a result, in an elevator that performs the running door open control, a vertical vibration is applied to the car at the time of landing.

As described above, in the conventional elevator control device, the load imbalance is corrected at the time of starting the elevator, but the load data is read again at the time of landing, and
Only the torque command of the hanging control at the time of landing is determined from the car load, but the torque correction of the hanging control is not performed. Therefore, if the read load data does not match the actual load, the lift-up or the push-down may occur during the hanging control during landing. For this reason, the car may vibrate in the vertical direction, which may cause deterioration of ride comfort when landing.

SUMMARY OF THE INVENTION It is an object of the present invention to provide an elevator control device capable of suppressing a longitudinal vibration of a car which occurs at the time of landing on an elevator.

[0010]

According to the present invention, there is provided an elevator control apparatus for performing a suspension control such that a car and a counterweight are suspended when a brake is released at the time of starting the elevator so that the car is stationary. When a load imbalance occurs between the car and the counter weight, a torque correction value corresponding to the fluctuation of the suspension control is calculated and stored in the storage device, and the torque correction value is applied to the suspension control in the arithmetic unit. An elevator control device comprising a controller unit that performs a running door open control of landing while opening the door when landing the elevator, wherein the arithmetic unit is configured to perform a torque correction when the elevator is started. When landing the elevator, the door is stopped after the car stops instead of the running door open control. And performing the Ku stop door open control.

In the elevator control device according to the first aspect of the present invention, when the torque is corrected by the hanging control at the time of starting the elevator, the arithmetic unit performs landing while opening the door when landing the elevator. In place of the running door open control, stop door open control for opening the door after the car stops is performed. This suppresses the longitudinal vibration of the car that occurs at the time of landing on the elevator.

According to a second aspect of the present invention, in the elevator control device according to the first aspect of the present invention, when the elevator arrives at the floor, the operation unit takes into account a torque correction value stored in the storage device. Open control is performed.

[0013] In the elevator control apparatus according to the second aspect of the present invention, in addition to the operation of the first aspect of the present invention, when the torque correction is performed by the hanging control at the start of the elevator, the torque correction value is stored in the storage device. In addition, when the elevator is landing, the running door open control is performed in consideration of the torque correction value stored in the storage device. This suppresses the longitudinal vibration of the car that occurs at the time of landing on the elevator.

According to a third aspect of the present invention, in the elevator control apparatus according to the first aspect of the present invention, when the torque correction value calculated by the control unit at the start of the elevator is larger than a predetermined value, the storage device stores the zero torque. When the correction value is stored, the arithmetic unit performs the stop door open control instead of the running door open control when the torque correction value stored in the storage device is zero at the time of landing of the elevator. It is characterized by.

In the elevator control apparatus according to a third aspect of the present invention, in addition to the operation of the first aspect, when the torque correction value calculated by the control unit at the time of starting the elevator is larger than a predetermined value, a zero torque is stored in the storage device. The correction value is stored. At the time of landing of the elevator, when the torque correction value stored in the storage device is zero, the arithmetic unit performs stop door open control instead of running door open control. In other words, when a load imbalance value equal to or greater than the predetermined value is obtained, stop door open control is performed to suppress longitudinal vibration of the car that occurs when the elevator lands on the floor.

According to a fourth aspect of the present invention, in the elevator control device according to the first aspect of the present invention, the controller unit determines in advance the amount of load imbalance generated on the uppermost floor and the lowermost floor as the travel distance of the elevator. A torque correction value converted into data is calculated and stored in the storage device, and the calculating unit suspends the elevator based on the current position of the elevator at the start of the elevator and the torque correction value previously stored in the storage device. When a load imbalance occurs between the car and the counterweight, the controller calculates a torque correction value corresponding to the fluctuation of the hanging control, and performs the control for the hanging control in the arithmetic unit. It is characterized in that torque correction is performed.

In the elevator control apparatus according to a fourth aspect of the present invention, in addition to the operation of the first aspect of the present invention, the amount of load imbalance generated at the uppermost floor and the lowermost floor is previously stored in a storage device. The torque correction value converted into the distance data is stored. The calculation unit performs hanging control based on the torque correction value stored in the storage device in advance. Then, when a load imbalance occurs between the car and the counterweight, the controller calculates a torque correction value corresponding to the fluctuation of the suspension control, and performs the torque correction for the suspension control in the calculation unit. .

According to a fifth aspect of the present invention, in the elevator control device according to the fourth aspect of the present invention, when the torque correction value calculated by the control unit is larger than a predetermined value, the controller unit is configured to perform the operation based on the load imbalance amount. In this case, the torque correction value of the storage device is reset.

In the elevator control apparatus according to a fifth aspect of the present invention, in addition to the operation of the fourth aspect of the present invention, the controller unit, when a load imbalance value equal to or more than a predetermined value is output,
The torque correction value of the storage device is reset based on the load imbalance amount.

According to a sixth aspect of the present invention, in the elevator control device according to the fourth or fifth aspect, the arithmetic unit generates a load imbalance during the running door open control at the time of landing of the elevator. In this case, the running door open control is stopped and the stop door open control is performed.

In the elevator control apparatus according to the sixth aspect of the present invention, in addition to the functions of the fourth or fifth aspect,
If a load imbalance occurs during the running door open control during landing of the elevator, the arithmetic unit stops the running door open control and performs the stop door open control. This suppresses the longitudinal vibration of the car that occurs at the time of landing on the elevator.

[0022]

Embodiments of the present invention will be described below. FIG. 1 is a configuration diagram in which an elevator control device 1 according to an embodiment of the present invention is applied to a high-speed elevator.

The elevator car 2 is suspended by a main rope 3 and lifted by a hoisting machine 4. On the other hand, a compensating rope 5 is connected to the bottom of the car 2, and is connected to a counterweight 7 via a compensive 6. The drive of the hoisting machine 4 is controlled by the inverter device 8, whereby the car 2 is controlled to move up and down. For example, when an ascending drive torque is given to the motor of the hoisting machine 4 from the inverter device 8, the car 2 moves upward and the counterweight 7 descends accordingly. Conversely, when the car 2 moves downward, the counterweight 7 rises.

A load detecting device 9 is provided at the bottom of the car 2, and the load data of the car detected by the load detecting device 9 is input to an input unit 11 of the elevator control device 1 via a tail cord 10. Is input to On the other hand, position data from the governor 12 that detects the traveling position of the car 2 is also input to the input unit 11 of the elevator control device 1.

The elevator control device 1 performs hanging control at the start of the elevator and then starts traveling.
That is, the controller unit 13 calculates the speed command value at the time of starting the elevator based on the load data input via the input unit 11, and the load imbalance between the car 2 and the counterweight 7 based on the position data. It is determined whether or not it has occurred. If a load imbalance has occurred, a torque correction value corresponding to the fluctuation of the hanging control is calculated and stored in the storage device 14.

The calculating section 15 calculates a torque command value corresponding to the speed command value from the controller section 13 and
When the torque correction value is stored in the storage device 14,
The torque correction value is added to the torque command value and output to the inverter control unit 16. Thereby, when the brake of the hoisting machine 4 is released, the car 2 and the counterweight 7
The control basket is kept stationary so that it is suspended. Then, the traveling of the car of the elevator is started, and the traveling of the car 2 is controlled by the torque command value corresponding to the acceleration.

Next, when the car 2 is caused to land on the floor in which the call is registered, the calculation unit 15 performs the torque correction based on the torque correction value in the hanging control at the start of the elevator. Perform the running door open control of landing while opening the door. On the other hand, when the torque is corrected by the torque correction value, stop door open control for opening the door after the car stops is performed instead of the running door open control.

FIG. 2 is a flowchart showing an example of the operation of the controller 13 and the calculator 15 in the embodiment of the present invention. FIG. 2A shows an operation at the time of starting the elevator, and FIG. 2B shows an operation at the time of landing of the elevator.

In FIG. 2, the arithmetic unit 15 performs hanging control at the start of the elevator (S1). In the hanging control at the time of the start, the controller 15 determines whether or not the torque correction by the zero speed control is necessary (S15).
2) If there is a load imbalance, the torque is corrected, and the torque correction flag = 1 is written in the recording device 14 (S3). That is, when the torque is corrected at the start of the elevator, the torque correction flag is set to 1.

Next, as shown in FIG. 2B, when the car 2 lands on the floor where the call is registered, the controller 13 determines whether the torque correction flag indicating the load imbalance is set. (S4). When the torque correction flag is not set, that is, when the torque is not corrected at the start of the elevator,
Running door open control for landing while opening the door is performed (S5).

On the other hand, if the torque correction flag is set, stop door open control is performed instead of running door open control (S6). Then, the storage device 14
Is set to 0 (S)
7). In the stop door open control, the hanging control is not performed at the time of landing of the elevator, so that it is possible to suppress the longitudinal vibration of the car that occurs at the time of landing of the elevator.

FIG. 3 is a flowchart showing another example of the operation of the controller 13 and the calculator 15 in the embodiment of the present invention. FIG. 3A shows the operation at the time of starting the elevator, and FIG. 3B shows the operation at the time of landing of the elevator.

In FIG. 3A, the arithmetic unit 15 performs hanging control at the start of the elevator (S1). In the hanging control at the start, the controller 1
5 determines whether or not torque correction by zero speed control is necessary (S2). If there is a load imbalance, the torque is corrected, and the torque correction flag = 1 is written in the recording device 14 (S3). That is, when the torque is corrected at the start of the elevator, the torque correction flag is set to 1.

It is determined whether or not the torque correction value at that time exceeds a predetermined limit value (predetermined value) Tx (S4). If the torque correction value is larger than the predetermined value Tx, zero torque correction is performed. The value is stored in the storage device 14 (S5), and when the torque correction value is equal to or less than the predetermined value, the torque correction value is stored in the storage device 14 (S6).

Next, as shown in FIG. 3B, when the car 2 lands on the floor where the call is registered, the controller 13 determines whether or not the torque correction flag indicating the load imbalance is set. (S7). When the torque correction flag is not set, that is, when the torque is not corrected at the start of the elevator,
Running door open control for landing while the door is open is performed (S8).

On the other hand, if the torque correction flag is set, it is determined whether the torque correction value stored in the storage device 14 is zero (S9). When the torque correction value stored in the storage device 14 is zero, the stop door open control is performed instead of the running door open control (S10). When the torque correction value stored in the storage device 14 is not zero, the running door open control is performed (S11), and the torque correction value at the time of starting the elevator during the hanging control at the time of landing is converted into an inverter. The suspension control is performed by adding the torque command value to the control unit 16 (S12). Then, the torque correction flag stored in the storage device 14 is set to 0 (S13).

As described above, when the torque correction value at the start of the elevator is larger than the predetermined value Tx, the stop door oven control without performing the hanging control at the time of landing is performed, and the torque correction at the start of the elevator is performed. When the value is equal to or less than the predetermined value Tx or when the torque correction is not performed,
At the time of landing, running door open control with hanging control is performed. Thereby, the occurrence of the longitudinal vibration of the car that occurs when the elevator is landing is properly suppressed.

FIG. 4 is a flowchart showing still another example of the operation of the controller 13 and the calculator 15 in the embodiment of the present invention. FIG. 4A shows the operation at the time of starting the elevator, and FIG. 4B shows the operation at the time of landing of the elevator.

In FIG. 4A, the controller 13
Calculates a torque correction value obtained by converting the amount of load imbalance generated on the top floor and the lowest floor into data of the travel distance of the elevator, and stores the calculated torque correction value in the storage device 14 in advance (S
1). The calculation unit 15 performs hanging control based on the current position of the elevator and the torque correction value stored in the storage device 14 in advance when the elevator starts (S2).

In the hanging control at the start,
The controller 15 determines whether or not torque correction by zero speed control is necessary (S3), and if there is a load imbalance, calculates a torque correction value and performs torque correction. Then, it is determined whether or not the torque correction value at that time has exceeded a predetermined limit value (predetermined value) Tx (S4). If the torque correction value is equal to or smaller than the predetermined value, the recording device 14 transmits a torque correction flag to the recording device 14. = 1 is written (S5). That is, when the torque is corrected at the start of the elevator, the torque correction flag is set to 1.

On the other hand, when the torque correction value is larger than the predetermined value Tx, the torque correction value is recalculated based on the load imbalance amount (S6), and the recalculated torque correction value is stored in the storage device 14 (S7). ). That is, the torque correction value is reset.

Next, as shown in FIG. 4B, when the car 2 arrives on the floor where the call is registered, the controller 13 determines whether the torque correction flag indicating the load imbalance is set. (S8). When the torque correction flag is not set, that is, when the torque is not corrected at the start of the elevator,
Running door open control for landing while opening the door is performed (S9). It is determined whether or not a load imbalance has occurred during the running door open control (S1).
0) When the load imbalance occurs, the running door open control is stopped and the stop door open control is performed (S11).

On the other hand, when the torque correction flag indicating the load imbalance is set, stop door open control is performed (S12), and the torque correction flag stored in the storage device 14 is set to 0 (S13).

As described above, the torque correction value of the load imbalance corresponding to the travel distance (position) of the elevator is calculated in advance based on the actual load data of the uppermost floor and the lowermost floor, and stored in the recording device 14. Then, when the elevator starts, the pre-stored torque correction value is selected based on the position of the elevator and used as the torque correction value in the suspension control. This prevents load imbalance during suspension control regardless of the position of the elevator.

If a load imbalance occurs despite the use of the torque correction value, the torque correction is further performed. If the torque correction value is larger than the predetermined value, the torque correction value is reset. Set. This prevents a load imbalance amount from being generated during suspension control at the start of the elevator.

On the other hand, when the elevator arrives at the floor where the call registration is made, if the torque is corrected at the start of the elevator, stop door open control without performing hanging control is performed. In addition, when the torque correction is not performed, the running open control is performed. When the load imbalance occurs during the running, the running door open control is stopped and switched to the stop door open control. This suppresses longitudinal vibration of the car that occurs at the time of elevator landing.

[0047]

As described above, according to the present invention, when the torque is corrected at the time of the hanging control at the start of the elevator, the stop door open control or the torque correction value at the start is obtained at the time of landing. In addition, since the running door open control is performed, it is possible to realize an elevator control device with good ride comfort without vibration at the time of landing.

[Brief description of the drawings]

FIG. 1 is a configuration diagram in which an elevator control device according to an embodiment of the present invention is applied to a high-speed elevator.

FIG. 2 is a flowchart illustrating an example of an operation of a controller unit and an arithmetic unit according to the embodiment of the present invention.

FIG. 3 is a flowchart showing another example of the operation of the controller and the calculator in the embodiment of the present invention.

FIG. 4 is a flowchart showing yet another example of the operation of the controller and the calculator in the embodiment of the present invention.

[Explanation of symbols]

1 elevator control device 2 car 3 main rope 4
Hoisting machine 5 Compensation rope 6 Compensive
Reference Signs List 7 counter weight 8 inverter device 9 load detection device 10 tail code 11 input unit 12 governor 13 controller unit 14 storage device 15 arithmetic unit 16 inverter control unit

Claims (6)

[Claims] 1. An operation section for performing suspension control such that a car and a counter weight are suspended when a brake is released at the time of starting an elevator, and a load imbalance occurs between the car and the counter weight. And a controller for calculating a torque correction value for the fluctuation of the hanging control and storing the same in the storage device, and performing a torque correction for the hanging control in the arithmetic unit. In the elevator control device that performs the running door open control of landing while opening, when the torque correction is performed at the start of the elevator, when the elevator is landing, instead of the running door open control, An elevator which performs stop door open control for opening a door after a car stops. Control device. 2. The elevator control according to claim 1, wherein the arithmetic unit performs a running door open control in consideration of a torque correction value stored in the storage device when the elevator is landing. apparatus. 3. The storage device stores a torque correction value of zero when the torque correction value calculated by the control unit at the start of the elevator is larger than a predetermined value, and the calculation unit stores the torque correction value when the elevator lands on the floor. 2. The elevator control apparatus according to claim 1, wherein when the torque correction value stored in the storage device is zero, the stop door open control is performed instead of the running door open control. 4. The controller section calculates in advance a torque correction value obtained by converting an amount of load imbalance generated on the uppermost floor and the lowermost floor into data of an elevator traveling distance, and stores the torque correction value in the storage device. In addition, the calculation unit performs hanging control based on the current position of the elevator and a torque correction value stored in advance in the storage device at the time of starting the elevator, and the controller unit controls the car and the counter weight. 2. The elevator control according to claim 1, wherein when a load imbalance has occurred, a torque correction value corresponding to a fluctuation in the hanging control is calculated, and a torque correction is performed for the hanging control in the arithmetic unit. 3. apparatus. 5. The method according to claim 1, wherein when the torque correction value calculated by the control unit is larger than a predetermined value, the controller resets the torque correction value of the storage device based on a load imbalance amount. The elevator control device according to claim 4. 6. When the load imbalance occurs during the running door open control at the time of landing of the elevator, the arithmetic unit stops the running door open control and performs the stop door open control. The elevator control device according to claim 4 or 5, wherein: