JP2003118946A - Control method and control device for elevator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To correct a deviation of the car position that is calculated by counting pulses of an encoder that is connected to a motor, to the known absolute value, in an elevator that uses a fiber rope having high elongation or that has a long stroke. SOLUTION: Correction is made at once when a car is located far away from the floor on which the car is supposed to stop. When the car is located close to the floor, correction is made little by little, by parting the correction operation before the car reaches the floor. Accordingly, the accurate landing precision can be assured without damaging the riding comfort even the elongation of wire rope is large. Also, the operation load will not be increased unnecessarily.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an elevator control method and apparatus, and more particularly, to an elevator control method and apparatus that realizes improved correction of car position information in an elevator in which rope elongation increases.

[0002]

2. Description of the Related Art In an elevator system, a system has been used for many years in which an elevator car and a counterweight are equivalently connected by a main rope in a slip-like manner, and a sheave around which the main rope is wound is driven by an electric motor.
A steel rope has been adopted as the main rope, and a cast rope has been used as the sheave, and it has been configured so as to obtain a proper adhesion with the main rope. There is a slight slip between the steel rope and the sheave, and in the system that calculates the position information of the car by counting the pulses generated based on the rotation of the electric motor, the sheave of the sheave However, there was a problem that the landing accuracy on the destination floor was reduced. In order to prevent this, conventionally, the following positional information correction has been performed. First, in the initial stage of operation, the count value based on the rotary encoder attached to the electric motor
A process of storing in the memory what value is shown at the operating point of the position detector on each floor installed between the car and the hoistway is performed. And during normal elevator running,
By the operation of the position detector, the position information previously stored in the memory as the car position information is retrieved and reset as the current car position information, and is calculated by the actual car position during the elevator traveling and the pulse count. The deviation (positional error) from the car position information was corrected and corrected in advance so that finally the car landing error did not occur.

Further, various corrections have been attempted depending on the position and load of the car. For example, Japanese Patent Application Laid-Open No. 9-58938 proposes a feed-forward correction of rope elongation from information on a car position and a load. Further, in Japanese Patent Laid-Open No. 4-323108,
Japanese Patent Application Laid-Open No. 9-12245 proposes a method using an absolute value type rotary encoder, in which information is detected by a speed governor rope portion and correction is performed by an elevator acceleration or a car position. Further, Japanese Patent Laid-Open No. 5-310377 proposes a method of utilizing the surface pattern of the rope for detecting the position of the car.

[0004]

Since the elevator car position correction method described above uses the information of the car position and the load in a feedforward manner, it is affected by detection errors and a long stroke of 100 m class. No consideration is given to the adverse effect on the riding comfort when the car position correction process is executed in an elevator or an elevator using a fiber rope or a resin coated rope represented by an aramid series which has a relatively large rope elongation.

It is an object of the present invention to provide a control method for an elevator that ensures both accurate landing accuracy and good ride comfort during correction, even in an elevator in which the main rope stretches greatly during operation. To provide a device.

[0006]

A speed command during deceleration of an elevator is created as a square root function of a remaining distance to a target stop point. Considering the situation where the elevator is descending from the upper floor to the second floor, while the car is still descending on the relatively upper floor, the remaining travel distance (= current calculation) for creating the speed command is calculated. The car position-absolute position on the second floor) is a large value. In this region, the decrease amount of the speed command due to the progress of the position is small. For this reason, even if the deviation of the car position at this point is directly rewritten to the true value once,
The fluctuation of the speed command due to this position correction is very small,
It does not impair the riding comfort. Therefore, if the car position correction at a position sufficiently distant from the planned stop floor is completed once, the responsibility of the control device required for the processing can be reduced without affecting the riding comfort.

On the other hand, the situation is different in the car position correction when the car has passed the vicinity of the second floor, which is the planned stop floor, for example, the third floor. In the non-stop floor zone of a skyscraper, since it is not necessary to stop originally, it is not necessary to provide a position detection target object (for example, a shield plate) for each floor in the hoistway. However, in order to avoid the problem that the car position cannot be corrected during operation between floors across the non-stop floor, it is common to install shield plates at predetermined intervals. The arrangement interval is determined from the viewpoint of not causing a shock at the time of correction, but it is often installed every 1st to 3rd floor because of the troublesome installation at variable intervals. Therefore, in a skyscraper, installing a shield plate on this dummy floor is a great effort. When driving toward the lower floors, the rope on the car side is long and the rope tends to stretch, so it is assumed that the amount of correction to the true value is large. Further, as described above, the speed command during deceleration is a square root function of the remaining distance, and the amount of change in the speed command increases when the remaining running distance is corrected by correcting the car position near the planned stop floor. Therefore, it is desirable to divide the correction of the car position error at the closest distance and execute the correction little by little to secure the landing accuracy without impairing the riding comfort.

According to one embodiment of the present invention, in an elevator that corrects car position information calculated based on pulse counts based on known point information within a hoistway, this correction is not performed at once, but a plurality of The feature is that it is corrected in small steps.

In another aspect of the present invention, in the above correction, when the car is out of a predetermined range from the planned stop floor, the deviation is collectively corrected and the car is predetermined from the planned stop floor. When approaching within the range, the deviation is divided into a plurality of times and is corrected little by little.

Other objects and features of the present invention will be clarified in the embodiments described below.

[0011]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 is an overall configuration diagram of an elevator controller according to an embodiment of the present invention. In the figure, 1 is an elevator car, 2 is a counterweight, and both are connected by a main rope 3 in a slip-like shape. The main rope 3 is wound around a sheave 4, and the sheave 4 is connected to a driving electric motor 5. The sheave 4 rotates as the electric motor 5 rotates, and the car 1 is driven up and down. In the electric motor 5,
In order to control the speed and calculate the position of the car 1, a rotary encoder 6 is attached, and a pulse is generated as the electric motor 5 rotates. This pulse signal is transmitted to the control panel 8 via the wiring 7. As will be described later, the control panel 8 stores a control program such as a car position calculation and a car position correction value calculation in order to perform car position control and electric motor speed control from the captured pulse signals. The device 81 and a power conversion device 82 that supplies electric power to the electric motor 5 are housed.

In the car position detection system based on pulse counting, a deviation (error) phenomenon of the count value appears as a considerable value in a 100 m class building even when a steel rope is used as the main rope. This tendency becomes more apparent when a fiber rope or a resin-coated rope that stretches more easily than the rope is used.

In this example, as the objects to be detected for creating a known point for knowing the absolute position of the car 1, in each of the floors 1 to n, shield plates 91, 92, and
93 ... 9n are arranged. On the other hand, for car 1
A position detector 10 is installed, and when the car 1 passes through each floor 1 to n, the detected objects (shields) 91 to 9 are detected.
A signal is generated in opposition to n. The output signal of the position detector 10 is an interrupt signal when passing through a predetermined floor,
It is taken into the control device 81 in the control panel 8 via the tail cord 11.

FIG. 2 is a flow chart of correction preparation processing according to an embodiment of the present invention. This task 200 is a process for preparing for correcting the position of the car. An operation system (not shown) recognizes an interrupt that occurs when the position detector 10 installed on the car 1 shown in FIG. 1 crosses the shielding plates 91, 92, ... 9n installed in the hoistway. The process is started by jumping to the shield plate interrupt process 200 ″. In step 201, the value of the current car position obtained by counting the output pulses of the rotary encoder 6 is stored in CP1 of the temporary register. Here, the car position calculation process exists in the timer task activated at a predetermined time interval, but since the priority is usually lower than that of the task such as the shield interrupt process 200, the step 201 is performed.
This means that the latest car position has been incorporated into CP1. Next, in step 202, when the position detector 10 crosses any of the shield plates 91 to 9n, a signal is generated, and absolute position information preset in the floor corresponding to the shield plate is stored in the temporary register CP2. Write in. Then, in step 203, the correction value used for the car position correction is calculated by the calculation of (CP1-CP2). Here, if the values of CP1 and CP2 are the same, the elevator car 81 constantly calculates the absolute position information CP2 corresponding to each floor initially measured when the elevator system starts to operate. This means that the positional information CP1 is equal, the sheave 4 is not worn, the main rope 3 and the sheave 4 are not slipped (creep), and the rope 3 is hardly stretched. However, this is almost never. In step 204, it is determined whether the correction value is abnormally large. If YES, it is possible that there is an abnormality in the rope itself or an abnormality related to adhesion with the sheave.
Proceed to 05 to perform the warning process. And step 2
In step 06, the correction process execution flag is set, and step 20
The process returns to the operation system via 7.

FIG. 3 is a flow chart of correction execution processing according to an embodiment of the present invention. This task 300 represents a process for specifically performing the position correction of the car without adversely affecting the riding comfort. This process is set as one of timer tasks activated at regular time intervals by an operating system (not shown). Although it may be executed subsequent to the shield plate interrupt processing 200 of FIG. 2, since the destination of use of the result is the creation of a speed command that does not require urgency, it is registered here in the timer task.

First, in step 301, it is determined whether or not the correction necessity flag is set. If the correction flag is not set, it is determined that the shield has not passed, and no processing is performed, and the process returns to the operation system or jumps to another timer task processing via step 302. On the other hand, if the correction flag is set, it is determined in step 303 whether or not the position of the car is approaching the vicinity of the planned stop floor. If the position of the car is not near, even if the car position is corrected at a time, a slight position correction does not impair the riding comfort because the amount of change that is given to the magnitude of the speed command is small. Therefore, if it is not near the planned stop floor, step 304
As a new car position, the car position is corrected with one shot by adding and subtracting the correction value from the car position. This reduces the load factor on the control device 81 due to unnecessary division processing. Then, in step 305, the correction flag is reset assuming that the correction is completed. In addition, just in case, in step 306, the correction division number flag N is cleared to zero, and the correction process is ended.

On the other hand, when it is determined in step 303 that the position of the car is near the planned stop floor, the correction process is divided into a plurality of times to prevent the ride comfort from being deteriorated when the correction process is performed at one time. In step 307, it is determined whether or not the division processing is the first time, and if it is the first time, step 308.
The initial value of the number of times of division processing is set to 20. If it is determined in step 307 that this is not the first division processing, the division processing execution flag N is decremented once in step 309. In either of steps 308 and 309, after setting the number of times N, the process proceeds to step 310 to obtain a new car position. That is, a value obtained by 1 / N the correction value (CP1-CP2) is added to or subtracted from the calculated cage position CP1. The value to be corrected is 1 / N for each timer task.
As described above, since the car is gradually divided and corrected by the time the car arrives at the scheduled stop floor, it is possible to ensure both accurate landing accuracy and good ride comfort. Then, in step 311, it is determined whether or not the division correction processing remains, and if it remains, the above-mentioned processing is repeatedly continued at the next timer interruption,
If the division correction process is completed, the correction flag is reset in step 312, and the correction process is completed.

FIG. 4 is an operation explanatory diagram in one embodiment of the present invention. The figure shows the speed command and estimated acceleration for the remaining running distance from the car position to the planned stop floor (1)
A non-correction method, (2) a method in which the correction is completed once by the conventional method, and (3) a method in which the correction according to the present embodiment is divided into a plurality of times are performed. Without correction (1), no acceleration shock will occur and no ride comfort will occur, but there will be a substantial remaining distance ΔP when the car is stopped, and there will be a landing with the floor of the building. It can be seen that there is an error. On the other hand, in the conventional method (2), since the correction is executed once, if the correction value becomes large,
There is a possibility that the speed command jumps from point a to point b, and as a result, the car acceleration also jumps by Δα2, impairing the riding comfort. Since the position correction itself is executed, the remaining distance becomes zero and no landing error occurs. Further, in the case of the present embodiment (3), since the correction is divided and implemented stepwise, as a result, the speed command also changes stepwise from point a to point c instead of a steep change. The change in acceleration Δα3 is also small, the riding comfort is hardly deteriorated, and no landing error occurs.

Here, the procedure of division correction will be described.
The correction value ΔCP = CP1-CP2 is set to the speed command calculation interval T
(Ms) is divided into 20 times, and the value of (ΔCP / 20) is divided into 20 times and divided and corrected. Normally, the speed command calculation is set to a task level of about 10 ms, so it takes 200 ms to complete the correction, but there is a sufficient time margin from the passage of the third floor to the arrival of the second floor. It is possible to achieve both accurate landing accuracy and avoidance of deterioration of riding comfort due to correction without causing a problem that the car arrives at the planned stop floor before completion.

In the above embodiment, the car 1 and
The main rope 3 of aramid fiber or resin clothing in which the car 1 and the counterweight 2 are equivalently connected in a slippery manner.
And the electric motor 5 that drives the car 1 up and down via the main rope 3, the destination floor position information and the car position information C
A control device 81 that drives and controls the electric motor 5 according to the relationship with P1 to raise and lower the car 1 toward the destination floor and stop the car 1, and counts pulses related to the rotation of the motor 5 to measure the car. Means for calculating position information (6, 8
1), a position detector 10 provided on the car 1 and detecting a detected body (shielding plate) 91 to 9n arranged at a known point in the hoistway, and an output signal of the position detector 10. Means for reading out known spot information CP2 stored in advance in response to the above (81, step 202), and correction means (81) for correcting the car 1 position information CP1 based on the known spot information CP2. In the elevator control device, when the car 1 is outside the range from the planned stop floor to the floor before the first floor of the planned stop floor, the deviation of the car position information CP1 from the known point information CP2 Means for collectively correcting ΔCP (step 30
4 to 306) and when the car 1 is approaching within the range of the floor one floor before the planned stop floor, the deviation ΔCP of the car position information CP1 from the known point information CP2 is counted by the timer. It is provided with means for correcting 20 times based on interruption (steps 307 to 312) and means for issuing a warning (step 204.205) when the deviation ΔCP is larger than a predetermined value.

According to this embodiment, end floors and non-stop floors where the adverse effect of rope elongation characteristically occurring in lightweight fiber ropes and resin-coated ropes used for ultra-high-rise buildings where rope weight is a problem become apparent. Accurate landing and good ride comfort can be provided in the situation where the scheduled stop floor is immediately after.

In this embodiment, the method of determining ΔCP / 20 is shown from the viewpoint of fixing the number of corrections, but the correction value ΔCP1 for each time is set and the total correction amount ΔCP is set to 1.
The number of corrections may be obtained by dividing by the correction value ΔCP1 per time, ΔCP / ΔCP1 and the correction may be executed by using the correction value of ΔCP1 every time. As a result, it is possible to avoid waste of the number of calculations by unnecessarily dividing a small correction value, and avoid a problem of a decrease in accuracy due to an undesired digit cancellation. In addition, a constant integer value ΔCP1 is used as a correction value per time, and (ΔCP-ΔCP1) is calculated as the next ΔC.
The correction residual value may be sequentially updated as P, and the correction may be ended when this value approaches zero. Also in this case, the problem of dropout and the problem of processing calculation time can be solved.

According to the above-described embodiment, the correction of the distance-based speed command used for the landing control is gradually performed until the arrival at the target stop floor, so that both accurate landing control and good ride comfort can be achieved. You can

Further, according to the present embodiment, it is judged whether or not the car position correction is divided into areas where the riding comfort is not adversely affected. Since the size is set to have no influence, there is an effect that the load factor of the control device is not unnecessarily increased.

[0026]

According to the present invention, it is possible to achieve both good ride comfort of the elevator and accurate landing accuracy.

[Brief description of drawings]

FIG. 1 is an overall configuration diagram of an elevator control device according to an embodiment of the present invention.

FIG. 2 is a flowchart of correction preparation processing according to an embodiment of the present invention.

FIG. 3 is a flowchart of correction execution processing according to an embodiment of the present invention.

FIG. 4 is an operation explanatory diagram of an elevator control device according to an embodiment of the present invention.

[Explanation of code] 1 ... Car, 2 ... Counterweight, 3 ... Main rope, 4
... sheave, 5 ... electric motor, 6 ... rotary encoder, 7 ...
Wiring, 8 ... Control panel, 81 ... Control device, 82 ... Power converter, 91-9n ... Detected object (shield), 10 ... Position detector, 11 ... Tail code, 1F-nF ... 1-n floor ,
200 ... Shield interrupt processing, 300 ... correction execution processing.

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Akihiro Omiya             1070 Ichimo, Hitachinaka City, Ibaraki Prefecture Stock Association             Hitachi Building Co., Ltd. Mito Bi             Le System Headquarters (72) Inventor Ichiro Nakamura             2 days at 832 Horiguchi, Hitachinaka City, Ibaraki Prefecture             Tachimito Engineering Co., Ltd. (72) Inventor Ritsumoto Teramoto             502 Kintatemachi, Tsuchiura City, Ibaraki Japan             Tate Seisakusho Mechanical Research Center F term (reference) 3F303 CB12 CB43 DB21                 3F304 BA08 ED18                 3F305 BB02 BB13

Claims (11)

[Claims] 1. A main rope in which a car and the car and a counterweight are equivalently connected in a slipping manner, and an electric motor for driving the car up and down via the main rope.
A control device for driving and controlling the electric motor according to the relationship between the destination floor position information and the car position information to elevate and lower the car toward the destination floor and stop it, and count the pulses related to the rotation of the electric motor In the elevator control method comprising a calculation step of calculating the car position information and a correction step of correcting the car position information based on known point information in the hoistway, the correction step includes An elevator control method comprising the step of correcting an error of the car position information with respect to the point information by dividing the error into a plurality of times. 2. A main rope to which a car and the car and a counterweight are equivalently connected in a slipping manner, and an electric motor for driving the car up and down via the main rope.
A control device that drives and controls the electric motor according to the relationship between the destination floor position information and the car position information to elevate and stop the car toward the destination floor, and counts pulses related to rotation of the electric motor. In the elevator control device having means for calculating the car position information, and means for correcting the car position information based on known point information in the hoistway, the known car position information is known. An elevator control device comprising means for correcting a deviation for point information by dividing the deviation into a plurality of times. 3. The correction means according to claim 2, wherein the correction means divides the vehicle after the known point information in the hoistway is obtained based on the traveling of the car and before the next known point information is obtained. An elevator control device characterized by being configured to complete the above correction. 4. A main rope in which a car and a car and a counterweight are equivalently connected in a slipping manner, and an electric motor for driving the car up and down via the main rope.
A control device that drives and controls the electric motor according to the relationship between the destination floor position information and the car position information to elevate and stop the car toward the destination floor, and counts pulses related to rotation of the electric motor. In a control device for an elevator equipped with means for calculating the car car position information and means for correcting the car car position information on the basis of known point information in the hoistway, the car is predetermined from the floor to be stopped. Means for collectively correcting the deviation of the car position information from the known point information when the car is out of the range, and the car when the car is within a predetermined range from the planned stop floor An elevator control device comprising means for correcting a deviation of the car position information from the known point information in a plurality of times. 5. The elevator control device according to claim 4, wherein the predetermined range from the scheduled stop floor is a range including a floor before the scheduled stop floor on the first floor. 6. A detected object in a hoistway installed on each floor and / or a non-stop zone according to claim 2, and a signal when passing through the detected object installed in a car. An elevator control apparatus, comprising: a detector that generates a signal; and a unit that reads out known point information stored in advance corresponding to the detected object in response to a signal from the detector. 7. A detected object in a hoistway installed on each floor and / or a non-stop zone according to claim 2, and a signal when passing through the detected object installed in a car. In response to an interrupt based on a signal from the detector, a detector that generates a signal, a unit that reads out known point information stored in advance corresponding to the detected object in response to the signal from the detector, An elevator control device comprising means for calculating a division correction value. 8. The elevator control according to any one of claims 2 to 7, wherein the means for correcting the plurality of times separately comprises means for executing the plurality of times of correction based on a timer interrupt. apparatus. 9. The elevator control device according to claim 2, wherein the main rope is a non-steel rope. 10. The elevator control device according to claim 2, wherein the main rope is an aramid fiber rope or a resin coated rope. 11. An elevator control apparatus according to claim 2, further comprising means for issuing a warning when the deviation is larger than a predetermined value.