JP2001026380A - Elevator speed control system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To stop elevators smoothly by obtaining accurate information on the inertia of their control system and correcting their speed estimation for extremely low speed accurately. SOLUTION: A load sensor 8 detects the laden weight of a car 1, and a speed detector 9 detects the rotational speed of a motor 4. On the basis of the laden weight detected, a controller 10 calculates the inertia of the elevator control system correctively while the elevator stops, before effecting speed control on the motor 4 in dependence on the inertia and the speed detected.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an elevator speed control device.

[0002]

2. Description of the Related Art At present, in a speed control system in which an elevator is controlled, in order to improve speed control characteristics in an extremely low speed range,
Speed estimation compensation using a disturbance observer is performed.

[0003]

Since the speed estimation compensation uses inertia information of a control target used in a disturbance observer, the more accurate the inertia information, the better.
However, when an elevator is to be controlled, the inertia of the entire control target changes depending on the loaded weight (load) of the car. In the current technology, the inertia information of the controlled object that changes according to the load weight is treated as a constant value. became.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-described problems, and it is possible to obtain more accurate inertia information and accurately perform speed estimation compensation at an extremely low speed.
An object of the present invention is to provide an elevator speed control device capable of realizing a smooth stop of an elevator.

[0005]

According to a first aspect of the present invention, there is provided an elevator speed control device, comprising: a loaded weight detecting means for detecting a loaded weight of a car; a speed detecting means for detecting a speed of a motor; is an output of the detection means and the speed detecting means, the detected based on the load weight calculated corrected inertia information T _EL of the elevator control system during the stop of the elevator by (1), the modified inertia information T Control means for controlling the speed of the motor based on the output of the _EL and the speed detecting means is provided.

However, GD ² = motor GD ² + sheave GD
² + brake rotation side GD ² + car side GD ² (kgm ² ), N
The rated speed of the motor (rpm), P is the rated output of the motor (kw), the car-side GD ² is obtained by adding the load weight and the car weight and the rope weight and counterweight weight of the car.

[0007] An elevator speed control device according to claim 2
Is a load weight detecting means for detecting the load weight of the car;
Speed detection means for detecting the speed of the car and the loading weight of the car
And inertia information T of elevator control system_ELA relationship with
Create and store as table data by calculation in advance
At the same time, the outputs of the
The inertia information is entered based on the entered and detected loading weight.
Report T_ELFrom the table data while the elevator is stopped
And the corrected inertia information T _ELAnd speed
The speed of the motor is controlled based on the output of the detection means.
is there.

According to a third aspect of the present invention, in the elevator speed control device, a sheave is connected to a rotating shaft of an elevator motor, and a cage and a counter weight are suspended from the sheave via a rope.

[0009]

Embodiment 1 Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
FIG. 1 shows a simplified model of an elevator control system according to the first embodiment, where 1 is an elevator car for loading humans and luggage,
2 is a rope connected to the car 1, 3 is a counterweight connected to balance the weight of the car 1 via the rope 2, 4 is a motor for moving the car 1 up and down,
A sheave 5 on which the rope 2 is hung above the car 1 is attached to the rotating shaft 4a of the motor 4, and a sheave 6 on which the rope 2 is hung below the car 1 is rotatably supported. The brake drum 7 is provided on the rotating shaft 4a.
Is attached.

Reference numeral 8 denotes a load sensor attached to the car 1 for detecting the loaded weight of the car 1, 9 denotes a speed detector attached to the rotating shaft 4a, 10 denotes an output of the load sensor 8 and an output of the speed detector 9. This is an elevator controller that inputs and provides a torque command to the motor 4, and is configured by a computer.

In the upper configuration, the car 1 is moved up and down via the sheaves 5 and 6 and the rope 2 by driving the motor 4. The load sensor 8 detects the weight of a person or a load loaded on the car 1 and sends it to the controller 10, and the speed detector 9 detects the speed of the motor 4 and sends it to the controller 10. The controller 10 is corrected by calculating the inertia information T _EL of the elevator control system by on the basis of the load weight of the car 1 obtained from the load sensor 8 during the elevator stop (1).
However, GD ² = GD of GD ² + sheave 5 of the motor 4 ² +
GD of the brake drum 7 ² + car-side GD ² (kgm ^2),
N is the rated rotation speed (rpm) of the motor 4, P is the rated output (kw) of the motor 4, and the car-side GD ² is the weight of the car 1, the weight of the car 1, the weight of the rope 2, and the counter weight 3. Depends on the weight added. These values are converted on the rotating shaft 4a of the motor 4. The controller 10 obtains a speed estimation value from the calculated and corrected inertia information _TEL and the speed detection information, and gives a deviation signal between the speed setting value and the speed estimation value to the motor 4 as a torque command signal to control the speed of the motor 4. .

[0012] The controller 10 constantly performs the operation correction of inertia information T _EL during the elevator stop, corresponds to the load weight of the car 1 to be changed. However, in reality, after the elevator starts operating, there is no change in the loaded weight of the car 1 because no person or luggage enters or exits the car 1. Therefore, if to complete the modification of the inertia information T _EL in operation immediately before the start of the elevator, the inertia information until the end of the operation T
_There is no change in _EL . Therefore, the controller 10 performs a control operation as shown in the flowchart of FIG. First, the elevator at step S1, it is determined whether or not the operation, there is no need to correct the inertia information T _EL if in operation proceeds to step S3, on the velocity control based on the current inertia information T _EL Perform processing. Step S
1 performs the correction processing of inertia information T _EL in step S2 if the elevator is in operation, the performs processing related to speed control based on this in step S3.

In the first embodiment, the inertia information _TEL is corrected based on the loaded weight of the car 1 detected while the elevator is stopped, and speed estimation compensation at an extremely low speed is performed based on accurate inertia information. The elevator can be stopped smoothly. Further, during operation of the elevator because of the operation modifying the inertia information T _EL, it is possible to simplify the processing in the controller 10.

Second Embodiment In the first embodiment, the inertia information _TEL is calculated and corrected on the basis of the loaded weight of the car 1 detected while the elevator is stopped.
0 calculates the relationships between the load weight and the inertia information T _EL of the car 1 in advance (1), is stored by creating this relationship as table data, detected in the car 1 while the elevator is stopped Inertia information T based on loading weight
_EL is read from the table data, an estimated speed value is obtained from the inertia information _TEL and the output of the speed detector 9, and a deviation between the set speed value and the estimated speed value is given to the motor 4 as a torque command signal to control the speed of the motor 4. I do.

In the second embodiment, the same effects as in the first embodiment can be obtained.

[0016]

According to claim 1 of the present invention as described above, according to the present invention, the operational modifications or table data of the inertia information T _EL of the elevator control system based on the loaded weight of the detected car in the elevator is stopped Read out,
Motor speed control is performed based on this inertia information and speed detection information, and speed estimation compensation at extremely low speeds can be performed based on accurate inertia information, and elevator speed control can be accurately performed. At the same time, the elevator can stop smoothly.

Further, since the calculation of the inertia and the reading from the table data are not performed during the operation of the elevator, the processing by the control means can be simplified.

[Brief description of the drawings]

FIG. 1 is a simplified model diagram of an elevator control system according to the present invention.

FIG. 2 is a flowchart showing the operation of the elevator speed control device according to the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Cage 2 ... Rope 3 ... Counter weight 4 ... Motor 4a ... Rotating shaft 5,6 ... Sheave 7 ... Brake drum 8 ... Load sensor 9 ... Speed detector 10 ... Controller

 ────────────────────────────────────────────────── ─── Continued on the front page (72) Inventor Yasuhiro Yoshida 2-1-1-17 Osaki, Shinagawa-ku, Tokyo F-term in Meidensha Co., Ltd. 3F002 CA02 CA04 CA10 DA07 5H550 AA07 BB05 DD01 FF07 GG03 JJ04 LL01 LL49

Claims (3)

[Claims] [Claim 1] A car for loading people and luggage by a motor
Detect the weight of the car in the driven elevator
Load detection means for detecting the speed of the motor.
Output means, the output of the loading weight detection means and the output of the speed detection means.
Elevation based on the entered and detected loading weight of the car
Data control inertia information T_ELThe elevator is stopped
Is modified by equation (1), and the modified inertia is
Information T _ELSpeed of the motor based on the output of the
Elevator comprising control means for controlling the degree
Speed control device. (Equation 1)However, GD^Two= Motor GD_Two+ Sheave GD_Two+ Brake
Rotation side GD_Two+ Car side GD^Two(Kgm^Two), N is the motor
Rated speed (rpm), P is rated motor output (kw)
And the car side GD^TwoThe loading weight of the basket, the basket weight and the
Group weight and counterweight weight.
You. 2. An elevator for driving a car on which a person or luggage is loaded by a motor, wherein the load weight detecting means detects the load weight of the car, the speed detecting means detects the speed of the motor, advance by calculating the relationship between the inertia information T _EL of the control system as well as creating and stored as table data, it is input the output of the load weight detecting means and the speed detecting means, the inertia information based on loading weight of the detected car the T _EL and correct reading from the table data during stopping of the elevator, characterized by comprising a control means for the speed control of the motor based on the output of the modified inertia information T _EL and the speed detecting means elevator Speed control device. 3. The elevator according to claim 1, wherein a sheave is connected to a rotation shaft of the motor, and a car and a counter weight are suspended from the sheave via a rope. Elevator speed control device.