JP2006131405A - Landing control device of elevator - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To inexpensively provide a landing control device of an elevator for reducing a landing error in a car, without using a load detector. <P>SOLUTION: This landing control device of the elevator for reducing the landing error in the car, can be inexpensively provided without using the load detector, by correcting a generating position of a landing command by estimating a slip quantity in the brake action, by detecting a speed of the car and a change in acceleration by a change in a car inside load on the basis of a pulse signal from a rotary encoder installed in an electric hoisting machine for driving the car. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to an elevator control device, and more particularly to an elevator landing control device that improves the landing control performance of an elevator that applies a braking force by an electromagnetic brake to stop a car.

In an elevator that applies braking force by an electromagnetic brake to stop a car, the landing error of the car is greatly influenced by the speed of the car and the load in the car. Therefore, as a conventional elevator landing control device, a speed detector and a load detector are installed, and the slip amount at the time of braking is estimated according to the value, and the landing command is automatically corrected, 2. Description of the Related Art An elevator landing control device that reduces the landing error of a car is known (see Patent Document 1).
JP 59-177276 A

Some elevators that use an electric hoist as power to move a car carrying people and cargo up and down stop the car by applying a braking force to the electric hoist with a frictional electromagnetic brake. . More specifically, the position of the car is detected based on a pulse signal from a rotary encoder attached to the electric hoist, and when the car comes into the landing section, an landing command is issued and an electromagnetic brake is applied. Yes. When this electromagnetic brake is applied, the slippage amount varies greatly depending on the speed of the car and the load in the car, resulting in a landing error.
Therefore, in order to solve this problem, a speed detector and a load detector are installed to detect the speed of the car and the load in the car, and by controlling the position where the landing command is generated according to the value, There is known an elevator landing control device that reduces the landing error of the elevator.

  The present invention detects a change in acceleration due to a change in a car speed and a load in the car based on a pulse signal from a rotary encoder attached to an electric hoist that drives the car, and estimates a slip amount at the time of braking operation. Thus, by correcting the generation position of the landing command, it is possible to provide an elevator landing control device that is inexpensive and has a low landing error without providing an expensive load detector as in the conventional landing control device. Objective.

In order to solve the above-described problems, the invention according to claim 1 of the present application includes a car, an electric hoist that drives the car, and an electric landing machine that is mounted on the electric hoist and given a landing command. An electromagnetic brake that applies a braking force to the hoist, a rotary encoder that is attached to the electric hoist and generates a pulse signal, a position detector that detects the position of the car based on the pulse signal from the rotary encoder, and Speed detection means for detecting the speed of the car based on a pulse signal from a rotary encoder, acceleration calculation means for calculating acceleration based on a change in speed detected by the speed detection means, and detection value of the position detection means , The landing start reference point detecting means for detecting that the car has reached a preset landing start reference point, the speed detecting means and the landing start base In the elevator control device comprising the landing start reference speed detecting means for detecting the landing start reference speed when the car has passed the landing start reference point from the detection value with the point detecting means, the acceleration calculation Slip amount estimating means for estimating a slip amount from when the electromagnetic brake is applied until the car stops based on the acceleration calculated by the means and the landing start reference speed detected by the landing start reference speed detecting means; And landing position correction means for correcting the generation position of the landing command according to the slip amount estimated by the slip amount estimation means.

  According to the present invention, a change in acceleration due to a change in the load in the car is detected, a slip amount at the time of braking is estimated, and the generation position of the landing command is corrected, so that it is inexpensive without installing a load detector. Thus, it is possible to provide an elevator landing control apparatus with a small landing error.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a diagram showing an elevator landing control apparatus according to an embodiment of the present invention.
In FIG. 1, reference numeral 1 denotes an elevator car, 2 a balance weight for balancing with the car 1, and 3 a wire rope for connecting the car 1 and the balance weight 2. 4 is an electric hoist for moving the car 1 up and down around the wire rope 3, 5 is an electromagnetic brake for stopping the car 1 by applying a braking force to the electric hoist 4, and 6 is an electric hoist. A rotary encoder that emits a pulse signal in synchronism with the upper unit 4, and 7 is an landing control device that issues an landing command, and includes a pulse detector, a microcomputer, and the like.

FIG. 2 is a block diagram showing the internal configuration of the landing control device 7 according to one embodiment of the present invention.
In FIG. 2, 8 is a pulse detector for detecting a pulse from the rotary encoder 6, 9 is a position detection circuit for detecting the position of the car based on a signal from the pulse detector, and 10 is a speed of the car based on a signal from the pulse detector. A speed detection circuit 11 detects an acceleration, and an acceleration detection circuit 11 calculates an acceleration from a detection value of the speed detection circuit 10.

In FIG. 2, 12 is a landing start reference point detection circuit for detecting that the car has reached the landing start reference point based on the detection value of the position detection circuit 9, and 13 is a speed detection circuit 10 and a landing start reference check. It is a landing start reference speed detection circuit that detects the landing start reference speed of the car when passing the landing start reference point from the detection value with the exit circuit 12. Further, 14 is a slip amount estimation circuit for estimating the slip amount when the electromagnetic brake is operated from the detection value of the acceleration detection circuit 11 and the detection value of the landing start reference speed detection circuit 13, and 15 is a position detection circuit 9 and a slip amount estimation circuit. The landing position correction circuit 16 corrects the landing position based on the detected value 14, and 16 indicates a landing command created by the landing position correction circuit 15.

FIG. 3 is a waveform diagram showing the speed and positional relationship of the car in one embodiment of the present invention.
In FIG. 3, Vj is the speed of the car, Tj is the time, V1 is a preset speed at the start of acceleration detection, V2 is a preset speed at the end of acceleration detection, T1 is a time at the start of acceleration detection, T2 time for acceleration detection completion, Lj is the position of the car, L ₀ is implantation starting reference point, stop floor Vhj the implantation start reference speed when passing through the implantation starting reference point L _0, the Le for the purpose The position, Lsj is the estimated slip amount, and La is the landing start point.

FIG. 4 is a diagram illustrating a change in slip amount with respect to a change in acceleration and speed.
In FIG. 4, αj is the acceleration calculated by the acceleration detection circuit 11 of FIG. 2, Vhj is the landing start reference speed detected by the landing start reference speed detection circuit 13 of FIG. 2, and Lsj is the slip of FIG. The slip amount estimated by the amount estimation circuit 14 is shown. As shown in FIG. 4, the acceleration αj and the slip amount Lsj are in a proportional relationship. Further, since the slip amount Lsj also changes depending on the speed difference when the brake is applied, the proportional relationship between the acceleration αj and the slip amount Lsj varies depending on the landing start reference speed Vhj as shown in the figure.

That is, the slip amount Lsj increases as the acceleration αj increases, and the slip amount Lsj further increases as the landing reference speed Vhj increases. Further, the slip amount Lsj decreases as the acceleration αj decreases, and the slip amount Lsj decreases further as the landing start reference speed Vhj decreases.
From this relationship, if the values of the acceleration αj, the landing start reference speed Vhj, and the slip amount Lsj are set in advance, the slip amount Lsj at the time of braking when the car is landed is determined by the acceleration αj and the brake during acceleration. It can be estimated by detecting the landing start reference speed Vhj at the time of acting.
FIG. 5 is a flowchart showing an embodiment of the present invention.

Hereinafter, specific processing of the present invention will be described with reference to FIGS.
First, it is confirmed that the elevator car 1 has started running (step S1 in FIG. 5), and the acceleration detection is confirmed by the speed detection circuit 10 (step S2 in FIG. 5). αj is calculated (step S3 in FIG. 5).
As shown in FIG. 3, this acceleration αj is stored as a time T1 when the car speed reaches a preset acceleration detection speed V1, and then a preset acceleration detection end speed is stored. The time when V2 is reached is stored as T2 and can be calculated as αj = (V2−V1) / (T2−T1). Subsequently, it is confirmed whether the car position Lj detected by the position detection circuit 9 in the landing start reference point detection circuit 12 has reached a preset landing start reference point L0 (step S4 in FIG. 5). Then, the car speed when the landing start reference speed detection circuit 13 passes the landing start reference point L0 is detected as the landing start reference speed Vhj corresponding to the speed at the start of landing (step S5 in FIG. 5). ).

Then, the slip amount estimation circuit 14 estimates the slip amount Lsj when the electromagnetic brake 5 is applied from the acceleration αj and the landing start reference speed Vhj as shown in FIG. 4 (step S6 in FIG. 5).
Based on the slip amount Lsj obtained in this way, the landing position correction circuit 15 sets the position before the landing start point by the slip amount Lsj estimated with respect to the target stop floor position Le as shown in FIG. If it is set to La (step S7 in FIG. 5) and it is confirmed that the car position Lj has reached the landing start point La (step S8 in FIG. 5), the landing command 16 is issued (step S9 in FIG. 5), and electromagnetic The brake 5 is applied (step S10 in FIG. 5), and the car 1 is stopped (step S11 in FIG. 5). At this time, since the electromagnetic brake 5 is accompanied by a slip equivalent to the estimated slip amount Lsj, the car 1 can accurately land near the target stop floor position Le.

  As described above, the present invention detects a change in acceleration due to a change in the speed of the car and the load in the car based on the pulse signal from the rotary encoder attached to the electric hoist that drives the car, and at the time of braking operation. By estimating the slip amount of the vehicle and correcting the generation position of the landing command, it is possible to provide an elevator landing control device that is inexpensive and has a small car landing error without using a load detector.

The block diagram which shows one Example of this invention The block diagram which shows the internal structure of the landing control apparatus of FIG. Waveform showing the speed and position of the car Diagram showing changes in slip amount with changes in acceleration and speed The flowchart which shows one Example of this invention

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Car 4 ... Electric hoist 5 ... Electromagnetic brake 6 ... Rotary encoder 7 ... Landing control device 9 ... Position detection circuit 10 ... Speed detection circuit 11 ... Acceleration detection circuit 14 ... Slip distance estimation circuit 15 ... Landing position correction circuit

Claims (1)

An electric hoist that drives the car, an electromagnetic brake that is attached to the electric hoist and gives a braking force to the electric hoist when a landing command is given, and is attached to the electric hoist A rotary encoder that generates a pulse signal, position detection means for detecting the position of the car based on the pulse signal from the rotary encoder, and speed detection means for detecting the speed of the car based on the pulse signal from the rotary encoder , An acceleration calculating means for calculating acceleration based on a change in speed detected by the speed detecting means, and detecting that the car has reached a preset landing start reference point based on a detection value of the position detecting means. The car determines the landing start reference point from the detection values of the landing start reference point detecting means, the speed detecting means and the landing start reference point detecting means. A control device for an elevator comprising a landing start reference speed detecting means for detecting a landing start reference speed when spent,
A slip amount for estimating a slip amount from when the electromagnetic brake is applied to when the car stops based on the acceleration calculated by the acceleration calculating unit and the landing start reference speed detected by the landing start reference speed detecting unit An elevator landing control device comprising: an estimation unit; and a landing position correction unit that corrects the generation position of the landing command according to the slip amount estimated by the slip amount estimation unit.

Images