JP2006124141A - Control device for elevator - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a control device for an elevator improved in ride quality. <P>SOLUTION: A torque control unit 12 subtracts an output of a balance device 8 from a torque command Te, and previously stores it as a rope unbalance value (corrected torque: Tc) by rope weight applying to a car 1 in response to stories position, through/in which the car passes or stops, obtained by a car position computing unit 11 and a reference position detecting unit 7. The torque control unit 12 also extracts the stored rope unbalance value to hold it in response to the stories position, through/in which the car 1 passes or stops, and adds the rope unbalance value and the output of the balance device to the torque command for correction, and generates the load unbalance torque in a driving device through a power supplying device 10. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to an elevator control device that takes into account riding comfort.

  In a conventional elevator control device, a load unbalance torque due to a rope weight difference is obtained in accordance with a linear expression obtained in advance and a car position. This primary equation is the first position where the car is run from the lowest floor to the top floor and the acceleration of the car is finished, the second position where the constant speed running is finished and the deceleration is started, the car and the counterweight It was calculated | required from the difference of each torque in the 3rd position where the rope weight difference concerning each becomes equal, and a 1st position and a 2nd position (for example, refer patent document 1).

JP-A-4-45075

  In the conventional elevator control apparatus as described above, the load unbalance torque at the car position is obtained from a linear expression obtained by the difference between the car positions and the torques detected in advance. For this reason, measurement of each position of the car and detection of each torque are not performed strictly, and if an error occurs, this error is directly incorporated into the linear expression. If an error is incorporated in the primary expression, an appropriate load unbalance torque cannot be obtained, and in some cases, a start shock occurs, which adversely affects riding comfort.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to provide an elevator control device that can improve riding comfort.

  An elevator control device according to the present invention includes a torque command generated from a speed command and a speed detection signal, an output from a scale device that detects a load in the car, and a main rope between the car side and the counterweight side. By processing the rope unbalance value according to the weight difference, the drive device that raises and lowers the car includes a torque control unit that generates load unbalance torque, and the torque control unit is provided for each of a plurality of reference positions in the hoistway. And a rope unbalance storage means for storing a pre-measured rope unbalance value, and an appropriate rope unbalance value is extracted from the rope unbalance storage means in accordance with the position of the car during normal operation.

  The present invention has rope unbalance storage means for storing rope unbalance values measured in advance for each of a plurality of reference positions in the hoistway, and from the rope unbalance storage means according to the position of the car during normal operation. Since a suitable rope unbalance value is extracted, riding comfort can be improved.

The best mode for carrying out the present invention will be described below with reference to the drawings.
FIG. 1 is a configuration diagram illustrating an elevator apparatus according to an embodiment of the present invention. In the figure, a car 1 and a counterweight 2 are suspended by a main rope 3. The main rope 3 is wound around a driving sheave 4 and a deflecting wheel 5 that are rotated by a driving device. In the hoistway, a plurality of plates 6 are provided corresponding to the car stop floor. A reference position detector 7 that detects a reference position (here, a floor position) by being engaged with the plate 6 is provided on the upper portion of the car 1. In addition, a scale device 8 that detects a load in the car 1 is provided at the bottom of the car 1. The drive sheave 4 is connected to a speed detector 9 that detects the car speed and outputs a speed signal (ωr). A power supply device 10 is connected to the drive device.

  The elevator control device includes a car position calculation unit 11 and a torque control unit 12. The car position calculation unit 11 obtains the car position from the reference position signal (plate detection signal) from the reference position detector 7 and the speed signal from the speed detector 9.

  The torque control unit 12 includes a speed control calculation unit 13 and a correction unit 14. The speed control calculation unit 13 generates a torque command (Te) from a speed command (ωp) from a speed command generator (not shown) and a speed signal from the speed detector 9. The torque control unit 12 adds and corrects the output from the correction unit 14 and the output from the scale device 8 to the torque command, and causes the drive device to generate load unbalance torque via the power supply device 10.

  The correction unit 14 includes a rope unbalance storage unit 15, an input switch 16, and an output switch 17. The correction means 14 detects the floor position at which the car 1 passes or stops from the car position signal from the car position calculation unit 11 and the reference position signal from the reference position detector 7. When the floor position where the car 1 passes or stops can be detected, the correction means 14 extracts and stores the stored rope unbalance value corresponding to the stop floor and outputs it. Further, when the floor position where the car 1 passes or stops is not detected, the correction means 14 outputs the rope unbalance value held immediately before. In the extraction of the rope unbalance value, if the floor position where the car 1 passes or stops cannot be detected correctly, or if it is determined that the rope unbalance value is not stored correctly, the extracted value is zero. Become.

  Further, the correction means 14 subtracts the output of the scale device 8 from the torque command corresponding to the floor position where the car 1 passes or stops, and the rope unbalance value due to the rope weight difference between the car 1 and the counterweight 2. It is stored in the rope unbalance storage means 15 as (correction torque: Tc). The rope unbalance storage means 15 is a non-volatile storage medium (for example, a flash memory) that does not lose data even when the power is turned off.

  The operation mode of the correction means 14 can be switched between a normal mode for outputting the rope unbalance value and a learning mode for storing the rope unbalance value. Whether the rope unbalance value is stored or output is determined based on whether the rope unbalance storage request flag built in the correction unit 14 is ON or OFF.

  During normal operation of the elevator, the rope unbalance storage request flag is OFF, and the correction means 14 is in the normal mode. Further, for example, when the rope unbalance storage request flag is switched to ON by an external request command during elevator maintenance operation such as installation adjustment or maintenance, the correction unit 14 enters the learning mode.

  When the rope unbalance storage request flag is OFF, the input switch 16 is opened (opened) and the output switch 17 is closed (short-circuited). Thereby, the correction | amendment means 14 will be in the state which outputs a rope unbalance value and does not memorize | store a rope unbalance value newly. When the rope unbalance storage request flag is ON, the input switch 16 is closed (short circuit) and the output switch 17 is open (open). As a result, the output of the correction means 14 becomes zero, and a value obtained by subtracting the output of the scale device from the torque command is stored (learned) as a rope unbalance value.

  The torque control unit 12 includes a central processing unit, a volatile memory, and a nonvolatile memory. In the central processing unit, program execution and data processing are performed. The volatile memory stores programs and data (including rope unbalance storage request flag data) used in this embodiment. The non-volatile memory stores a rope unbalance value.

  FIG. 2 is an explanatory diagram showing a storage table of loin unbalance values stored in the rope unbalance storage means 15 of FIG. As shown in FIG. 2, the rope unbalance storage means 15 stores the rope unbalance value at each floor position as a storage table. In the normal mode, the rope unbalance value stored in the storage table is extracted corresponding to the floor position where the car 1 passes or stops. In the learning mode, the rope unbalance value is stored in the storage table corresponding to the floor position at which the car 1 passes or stops.

  FIG. 3 is a graph showing a change in speed command with respect to time and a change in torque command with respect to time in the torque control unit 12 of FIG. The horizontal axis indicates the time required for the car 1 to travel from the lowest floor to the highest floor. The time when the speed command is constant with respect to time indicates that the car 1 is traveling at a predetermined constant speed. A change in the torque command when the car 1 is traveling at a predetermined constant speed appears as a change in the weight of the rope with respect to the car 1. The rope unbalance value in the storage table is obtained by subtracting the output of the scale device 8 from the changing torque command and storing the value for each floor position where the car 1 passes or stops.

  The rope unbalance value needs to be stored when the traveling speed of the car 1 is constant. For this reason, when the car 1 is traveling on the upper floor of the lowermost floor or the lower floor of the uppermost floor, a speed lower than the normal traveling speed (for example, for example, so that the traveling speed of the car 1 is constant) 20 m / min). Further, at the terminal floor (the top floor and the bottom floor), the speed command is set to zero for a predetermined time immediately after starting and immediately before stopping, and the rope unbalance value when the torque command is stable is stored.

  Next, the operation will be described. FIG. 4 is a flowchart showing the torque control operation of the torque control unit 12 of FIG. In the torque control unit 12, the torque control operation as shown in FIG. 4 is repeatedly executed during normal operation and maintenance operation of the elevator. In the torque control operation in the normal mode, first, it is determined whether or not the rope unbalance storage request flag is ON (step S101). Since the rope unbalance storage request flag is OFF, next, the reference position detector It is determined whether or not the reference position signal from 7 is received (step S102).

  If the reference position signal has been received, the rope unbalance value extracted corresponding to the floor position where the car 1 passes or stops is output from the rope unbalance storage means 15 (step S103). The output of the scale device 8 and the extracted rope imbalance value are added to the torque command and output from the torque control unit 12 (step S104), and this operation ends. If the reference position signal has not been received, the output of the scale device 8 and the output of the previously stored rope unbalance value are added to the torque command and output from the torque control unit 12 (step S105). Operations are terminated. Thus, for example, when the car 1 moves up from the second floor to the third floor, the correction means 14 outputs the rope unbalance value extracted and held on the second floor. When passing through the third floor and ascending to the fourth floor, the rope unbalance value extracted and held on the third floor is output. The same procedure is used when the car 1 is lowered.

  During the maintenance operation, the correction unit 14 is in the learning mode, and the rope unbalance storage request flag is turned on. At this time, the car 1 is assumed to travel without stopping from the lowest floor to the highest floor. In the torque control operation in the learning mode, first, it is determined whether or not the rope unbalance storage request flag is ON (step S101), and the rope unbalance storage request flag is ON. It is determined whether it is immediately after starting or immediately before stopping (step S106).

  Immediately after starting or immediately before stopping the car 1 in the learning mode, it is determined whether or not a predetermined time has elapsed (step S107). If the predetermined time has elapsed, the rope unbalance storage unit 15 stores the rope unbalance value. It is stored (step S108), and it is determined whether or not the car 1 is located on the top floor (step S109). If the car 1 is located on the top floor, the rope unbalance storage request flag is turned off (step S110), and the output of the scale device 8 is added to the torque command and output (step S111). Ends. Further, when the car 1 is immediately after starting or just before stopping and the predetermined time has not elapsed, or when the car 1 is not located on the top floor, the output of the scale device 8 is added to the torque command. This is output (step S111), and this operation is finished as it is.

  If the car 1 is not immediately after starting or immediately before stopping, it is determined whether or not the reference position signal from the reference position detector 7 has been received (step S112). If the reference position signal has been received, the rope unbalance value is stored in the rope unbalance storage means 15 (step S113), the output of the scale device 8 is added to the torque command and output (step S111). The operation of is terminated. If the reference position signal has not been received, this operation is terminated as it is.

  Thus, according to the elevator control device according to this embodiment, the torque command is generated from the speed command and the speed signal, and the value obtained by subtracting the output of the scale device 8 from the torque command is used as the rope unbalance value. Stored in advance corresponding to the floor position at which the car 1 passes or stops. Also, the stored rope unbalance value is extracted corresponding to the floor position where the car 1 passes or stops, and the rope unbalance value and the output of the scale device 8 are added to the torque command to balance the car 1 with the weight. 2 is generated in the drive device. Thereby, torque correction based on the rope unbalance value is accurately performed at the floor position where the car 1 passes or stops, and the occurrence of vibration due to the start shock can be reduced, so that the ride comfort can be improved.

In the above example, when the correction means 14 can detect the floor position at which the car 1 passes or stops, it extracts and stores the stored rope unbalance value corresponding to the stop floor and outputs it. However, the rope unbalance value that has been extracted may be held by means other than the correction means.
In the above example, the condition for determining whether the rope unbalance value is stored or extracted and output is set to the state where the rope unbalance storage request flag is ON or OFF. The condition for determining whether to store or extract and output is not limited to this.
Furthermore, in the above example, the floor position is shown as the reference position for storing and extracting the rope imbalance value, but the reference position is not limited to this.

1 is a configuration diagram illustrating an elevator apparatus according to an example of an embodiment of the present invention. It is explanatory drawing which shows the storage table of the loin unbalance value memorize | stored in the rope unbalance memory | storage means of FIG. It is a graph which shows the change of the speed command with respect to time in the torque control part of Drawing 1, and the change of the torque command with respect to time. It is a flowchart which shows the torque control operation | movement of the torque control part of FIG.

Explanation of symbols

  11 Car position calculation unit, 12 Torque control unit.

Claims (4)

A torque command generated from the speed command and the speed detection signal, an output from a scale device that detects a load in the car, and a rope unbalance value according to a difference in weight of the main rope between the car side and the counterweight side; A torque control unit that generates load unbalance torque in the drive device that raises and lowers the car by processing
The torque control unit has rope unbalance storage means for storing rope unbalance values measured in advance for each of a plurality of reference positions in the hoistway, and the rope unbalance according to the position of the car during normal operation. A control device for an elevator, wherein an appropriate rope unbalance value is extracted from a balance storage means.   The operation mode of the torque control unit can be switched between a normal mode for extracting a rope unbalance value from the rope unbalance storage means and a learning mode for storing the rope unbalance value in the rope unbalance storage means. The elevator control device according to claim 1, wherein the control device is an elevator.   3. The elevator control according to claim 2, wherein in the learning mode, the torque control unit stores a value obtained by subtracting an output from the scale device from a torque command as a rope unbalance value for each reference position. apparatus.   The torque control unit has an input switch for turning on / off a signal and a torque command input from the scale device, and an output switch for turning on / off an output from the rope unbalance storage means. 4. The elevator control device according to claim 3, wherein the input switch is turned off and the output switch is turned on, and in the learning mode, the input switch is turned on and the output switch is turned off.

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