JP2010215391A - Elevator device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an elevator device capable of keeping a car position in the horizontal direction even if the configuration includes no guide rail. <P>SOLUTION: A first displacement amount and a second displacement amount are added to each other with an adder 100e, and are sent to a horizontal-position control operation part 100f. The horizontal-position control operation part 100f calculates an absolute displacement amount which is a car displacement amount from a predetermined reference position in the horizontal surface, based on the first displacement amount and the second displacement amount from the adder 100e. The horizontal-position control operation part 100f drives an actuator 22d of an active mass damper so that the pendular motion of the car is compensated. The horizontal-position control part 100f controls the horizontal position of the car so that the car follows the predetermined reference position. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a guide railless elevator apparatus in which raising and lowering of a car is guided by a guide rope extending in a vertical direction in a hoistway.

  In the conventional elevator apparatus, the raising and lowering of the car is guided by guide rails provided upright in the hoistway. Further, in such a conventional elevator apparatus, the control device executes learning travel in advance, detects the horizontal acceleration of the car, and the relative displacement between the guide rail and the car, and based on these detected values. The information on the unevenness of the guide rail according to the height position of the car is acquired. Then, the control device drives the actuator connected to the guide roller using the information acquired during the learning travel so as to cancel the swinging of the car due to the unevenness of the guide rail during the normal operation of the car ( For example, see Patent Document 1).

JP-A-4-338083 JP 2004-18203 A

  Generally, guide rails require relatively high-precision processing and installation in order to prevent horizontal vibration of the car, and are relatively expensive. In place of this guide rail, it is a great advantage if the car can be guided by a guide rope such as a rope that is excellent in cost and installation.

  Here, for example, Patent Document 2 proposes a railless type elevator apparatus for seismic isolation purposes. However, in the conventional railless type elevator apparatus as shown in Patent Document 2, the displacement of the car in the horizontal direction (the lateral direction and the front-rear direction of the car) is not restricted by the guide rail. For this reason, with the raising and lowering of the car, there is a problem that a pendulum movement occurs in the car and the car is displaced in the horizontal direction.

  In contrast, in the conventional elevator car position control system as shown in Patent Document 1, the horizontal displacement of the car due to the unevenness of the guide rail is suppressed, and no pendulum movement occurs in the car. It could not be applied as it is to a railless type elevator apparatus using a rope.

  Moreover, the conventional elevator apparatus as shown in Patent Document 2 does not perform the horizontal position control of the car, cannot suppress the pendulum movement generated in the car, and cannot hold the horizontal position of the car. There wasn't.

  The present invention has been made in order to solve the above-described problems, and an object of the present invention is to provide an elevator apparatus that can maintain the horizontal position of a car even in a configuration that does not use guide rails. It is what.

  The elevator apparatus according to the present invention includes a main rope that suspends the car in the hoistway, a sheave around which the main rope is wound, a car rope that is raised and lowered in the hoistway, A signal according to the amount of relative displacement between the hoisting machine to be driven, a guide line provided in the hoistway along the vertical direction, for guiding the raising and lowering of the car, and the car and the guide line A relative displacement amount detecting means for generating a signal, an acceleration detecting means for generating a signal corresponding to a horizontal acceleration of the car, a horizontal displacement driving part for generating a driving force for displacing the car in the horizontal direction, and the relative A horizontal position control unit that monitors the relative displacement amount and the horizontal acceleration through a displacement amount detection unit and the acceleration detection unit, and performs horizontal position control of the car, the horizontal position control unit comprising: The phase being monitored Based on the amount of displacement and the horizontal acceleration, the amount of displacement of the car from a predetermined reference position on the horizontal plane is calculated as an absolute amount of displacement, and the calculated absolute displacement of the car is used to raise and lower the car. The horizontal displacement driving unit is driven so as to cancel the accompanying pendulum motion, and the horizontal position control of the car is performed.

  According to the elevator apparatus of the present invention, the horizontal position control unit measures the amount of displacement of the car from a predetermined reference position on the horizontal plane, and drives the horizontal displacement driving unit so as to cancel the pendulum movement accompanying the raising and lowering of the car. Since the position control of the car in the horizontal direction is performed, the position of the car in the horizontal direction can be maintained even when the guide rail is not used.

BRIEF DESCRIPTION OF THE DRAWINGS It is a block diagram which shows the elevator apparatus by Embodiment 1 of this invention. It is a block diagram which shows the control system of the actuator of FIG. It is a block diagram which shows the elevator apparatus by Embodiment 2 of this invention. It is a block diagram which shows the elevator apparatus by Embodiment 3 of this invention. It is a block diagram which shows the elevator apparatus by Embodiment 4 of this invention.

Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings.
Embodiment 1 FIG.
1 is a block diagram showing an elevator apparatus according to Embodiment 1 of the present invention.
In FIG. 1, a machine room 1 b is provided above the ceiling (top) 1 a of the hoistway 1. A pit portion 1 c is provided at the bottom of the hoistway 1. In the machine room 1b, a hoisting machine 2 and a curling wheel 3 are provided. The hoisting machine 2 has a motor and a sheave.

  Between the ceiling part 1a and the pit part 1c, a pair of guide ropes 4A and 4B serving as guide ropes are stretched along the vertical direction. The guide ropes 4A and 4B are wire ropes. The upper and lower ends of the pair of guide ropes 4A and 4B are fixed to the floor (ceiling part 1a) of the machine room 1b and the floor of the pit part 1c, respectively, by terminal support devices 5A to 5D.

  Tension applying members 6A and 6C are provided between the end support devices 5A and 5C and the floor of the machine room 1b, respectively. Further, tension applying members 6B and 6D are provided between the end support devices 5B and 5D and the floor of the pit portion 1c, respectively. The tension imparting members (tension imparting mechanisms) 6A to 6D are composed of, for example, a vibration-proof rubber and a bearing. Moreover, the tension | tensile_strength provision members 6A-6D apply about 20% of tension | tensile_strength of the breaking load to guide rope 4A, 4B.

  The compressive load due to the tension applied to the guide ropes 4A and 4B is held by the bearings of the tension applying members 6A to 6D. Further, when the building provided with the hoistway 1 is shaken due to an earthquake or the like, the guide rope 4A is caused by the seismic isolation effect of the anti-vibration rubber of the tension applying members 6A to 6D with respect to the horizontal vibration from the building. , Reduce the transmission of vibration to 4B.

  A main rope 10 as a main rope is wound around the sheave of the hoisting machine 2 and the curling wheel 3. Further, a car 11 and a counterweight (not shown) are provided in the hoistway 1. The car 11 and the counterweight are suspended in the hoistway 1 by the main rope 10. The car 11 and the guide ropes 4A and 4B are not in contact with each other.

  Displacement sensors 20A and 20B as relative displacement amount detection means are attached to both side surfaces of the car 11, respectively. The displacement sensors 20A and 20B are, for example, photoelectric sensors or guide ropes that emit detection waves (detection beams, ultrasonic waves, etc.) toward the guide ropes 4A and 4B and generate an electrical signal corresponding to the intensity of the reflected waves. For example, a proximity sensor that generates an electric signal corresponding to a change in magnetic flux due to a change in distance between 4A and 4B. Further, the displacement sensors 20A, 20B generate an electrical signal corresponding to the relative displacement amount (increase / decrease amount from the reference dimension) between the car 11 and the guide ropes 4A, 4B. The shape of the displacement sensors 20A and 20B is not limited to the shape shown in FIG. 1 (FIGS. 3 and 4).

  In addition, an acceleration sensor 21 serving as an acceleration detection unit and an active mass damper 22 serving as a displacement drive unit are provided below the car 11. The acceleration sensor 21 generates an electrical signal corresponding to the horizontal acceleration that is the acceleration of the car 11 in the horizontal direction (any direction of 360 degrees in the horizontal plane). The active mass damper 22 includes a weight 22a, a plurality of wheels 22b, a spring 22c, and an actuator 22d.

  The weight 22a can be displaced in the horizontal direction by a plurality of wheels 22b. The displacement of the weight 22a is driven by the spring 22c and the actuator 22d. The actuator 22d is, for example, an electromagnet or a linear motor. Here, when the weight 22 a is displaced, an inertial force is generated, and the inertial force is applied to the car 11. The active mass damper 22 may include two or more weights 22a, springs 22c, and actuators 22d in order to generate inertial forces in different directions.

  FIG. 2 is a block diagram showing a control system of the actuator 22d of FIG. In FIG. 2, the driving of the actuator 22d is controlled by a horizontal position control device 100 as a horizontal position control unit. The horizontal position control device 100 receives electrical signals from the displacement sensors 20A and 20B and the acceleration sensor 21, respectively. The horizontal position control device 100 includes a high-pass filter 100a, two integrators 100b and 100c, a low-pass filter 100d, an adder 100e, and a horizontal position control calculation unit 100f.

  The high-pass filter 100a and the low-pass filter 100d are set with substantially the same cutoff frequency. The high-pass filter 100a passes the frequency component of the acceleration equal to or higher than the cutoff frequency among the accelerations based on the electrical signal from the acceleration sensor 21. That is, the high-pass filter 100a removes a frequency component of acceleration that is less than the cutoff frequency. The two integrators 100b and 100c second-order integrate the acceleration of the car 11 that has passed through the high-pass filter 100a. By this second order integration, the acceleration of the car 11 is converted into a displacement amount of the car 11 in the horizontal direction (movement distance from a predetermined reference position in the horizontal direction). Then, the electric signal from the integrator 100c is sent to the adder 100e.

  The low-pass filter 100d passes the frequency component of the relative displacement amount less than the cutoff frequency among the relative displacement amounts based on the electrical signal from the displacement sensor 20A. That is, the low-pass filter 100d removes an acceleration frequency component equal to or higher than the cutoff frequency. Then, the electrical signal that has passed through the low-pass filter 100d is sent to the adder 100e.

  The adder 100e adds the displacement amount of the car 11 based on the electric signal from the integrator 100c and the displacement amount of the car 11 based on the electric signal from the low-pass filter 100d. The displacement amount of the car 11 after the addition is sent to the horizontal position control calculation unit 100f. The horizontal position control calculation unit 100f performs horizontal position control (posture control) of the car 11 using the displacement amount from the adder 100e.

  The horizontal position control calculation unit 100f stores information on a predetermined reference position on the horizontal plane of the car 11 in advance. Here, the predetermined reference position is, for example, the horizontal position (coordinate value) of the car 11 when the main rope 10 is in a stationary state (non-vibrating state). Further, the horizontal position control calculation unit 100f calculates the amount of horizontal displacement of the car 11 from the reference position as an absolute displacement amount. Then, the horizontal position control calculation unit 100f drives the actuator 22d of the active mass damper 22 so as to cancel the calculated absolute displacement amount of the car 11. The car 11 is moved to a predetermined reference position by the inertial force of the active mass damper 22.

  In FIG. 2, the displacement sensor 20B and its signal processing block are omitted, but the displacement amount based on the electric signal of the displacement sensor 20B is passed through a low-pass filter equivalent to the low-pass filter 100d, and then the electric power of the displacement sensor 20A. What is necessary is just to carry out vector synthesis | combination with the displacement amount (electric signal which passed the low-pass filter 100d) based on a signal, and to send to the adder 100e.

  Here, the horizontal position control device 100 can be configured by a computer (not shown) having an arithmetic processing unit (CPU), a storage unit (ROM, RAM, hard disk, etc.) and a signal input / output unit. The storage unit of the computer of the horizontal position control device 100 stores a program for realizing the function of the horizontal position control calculation unit 100f. Further, the high-pass filter 100a, the two integrators 100b and 100c, the low-pass filter 100d, and the adder 100e can be realized by any of arithmetic processing and circuit configuration by a computer.

  Next, the horizontal position control method of the car 11 by the horizontal position control device 100 will be specifically described. First, in the elevator apparatus according to the first embodiment, the displacement of the car 11 in the horizontal direction is not restricted. This causes a relatively low frequency pendulum motion in the car 11 at 360 degrees in the horizontal plane. The natural frequency f [Hz] due to this pendulum motion is expressed by the following equation (1), where L [m] is the length of the main rope 10 (the length from the sheave to the tie stop position of the car 11). The

但し、ｇは重力加速度であり、ｇ＝９．８１［ｍ／ｓ^２］である。

However, g is a gravitational acceleration and is g = 9.81 [m / s < ² >].

  Further, for example, when the length of the main rope 10 (the length from the sheave to the rope stop position of the car 11) is 25 [m], the natural frequency f is about 0.1 [Hz]. . Therefore, the horizontal position control device 100 needs to perform horizontal position control in consideration of the natural frequency f [Hz].

  Here, in the conventional elevator apparatus as shown in Patent Document 1, the displacement of the car is measured with respect to a certain reference point using a displacement sensor, or the acceleration signal of the acceleration sensor installed in the car is second-order integrated. Measure the displacement. In such a conventional elevator apparatus, when measuring the displacement with respect to the reference point, the guide rail can be used as the reference point.

In contrast, in the elevator apparatus according to the first embodiment, guide ropes 4A and 4B are used instead of the guide rail. Since the guide ropes 4A and 4B can vibrate in the horizontal direction, they are not sufficient reference points. Therefore, in the horizontal position control device 100 of the elevator apparatus according to the first embodiment, when measuring the displacement amount of the car 11 with respect to the reference point, the natural frequency f _r [Hz] of the string vibration of the guide ropes 4A and 4B is set. It is necessary to consider. In addition, since it is necessary to control the horizontal position of the cage | basket | car 11 also with respect to sudden disturbance, it is preferable to make the frequency of about 10-50Hz also into the object of horizontal position control.

The n-th order natural frequency f _r [Hz] of the string vibration of the guide ropes 4A and 4B is defined as T [N], where T (N) is a tension applied to the guide ropes 4A and 4B (for example, a tension having a breaking strength of about 20%). When the length of the guide ropes 4A and 4B is L [m] and the mass per unit length of the guide ropes 4A and 4B is ρ [kg / m ² ], the following equation (2) is obtained. .

ここで、例えば、かご１１の昇降行程を２５［ｍ］程度とすると、ガイドロープ４Ａ，４Ｂの弦振動の一次固有振動数ｆ_ｒは、およそ３［Ｈｚ］程度となる。

Here, for example, when the lifting stroke of the car 11 and 25 [m] extent, the guide ropes 4A, primary natural frequency _{f r} of the 4B of string vibration becomes approximately 3 [Hz] degree.

Accordingly, the car 11 near and above the primary natural frequency f _r [Hz] (3 [Hz] in this example) of the string vibration determined by the tension, length, and mass per unit length of the guide ropes 4A and 4B. For these displacements, the guide ropes 4A and 4B do not function as reference points. For this reason, in the elevator apparatus of Embodiment 1, the guide ropes 4A and 4B are made to function as reference points at a frequency sufficiently lower than this.

That is, in the horizontal position control device 100 of the elevator apparatus according to the first embodiment, the cutoff frequency (predetermined frequency) of the low-pass filter 100d is, for example, 1/5 of the primary natural frequency f _r [Hz] of the string vibration. The relative displacement amount of the car 11 having a frequency component of 0.6 [Hz] or less that is preset to 0.6 [Hz] is taken out by the low-pass filter 100d. Then, the relative displacement amount of the car 11 taken out is sent to the adder 100e as the first displacement amount (low frequency range absolute displacement amount).

  On the other hand, generally, when the acceleration signal of the acceleration sensor is second-order integrated to measure the displacement of the car, the low frequency noise of the acceleration sensor is expanded by the integration. This low frequency noise causes a reduction in control accuracy, and the reliability in the low frequency region is lowered. For this reason, in the horizontal position control device 100 of the elevator apparatus according to the first embodiment, the low-frequency component of the output of the acceleration sensor 21 is removed by the high-pass filter 100a.

  Here, the horizontal position control device 100 acquires the displacement amount of the car 11 in the frequency band of 0.6 Hz or less from the displacement sensors 20A and 20B via the low-pass filter 100d. The cut-off frequency (predetermined frequency) of the high-pass filter 100a is set to 0.6 [Hz], for example, so as to correspond to the cut-off frequency of the low-pass filter 100d. Then, the high-pass filter 100a removes the low-frequency component below the cutoff frequency, and the acceleration after the removal is second-order integrated by the integrators 100b and 100c, and the second displacement amount of the car 11 (high-frequency range absolute) Displacement amount) is sent to the adder 100e.

  Then, the first displacement amount and the second displacement amount are added together by the adder 100e and sent to the horizontal position control calculation unit 100f. The horizontal position control calculation unit 100f calculates an absolute displacement amount, which is a displacement amount of the car 11 from a predetermined reference position on the horizontal plane, based on the first displacement amount and the second displacement amount from the adder 100e.

  Further, the horizontal position control calculation unit 100f drives the actuator 22d of the active mass damper 22 so as to cancel the calculated absolute displacement amount, that is, to cancel the pendulum movement of the car 11 (the driving force signal is output from the actuator 22d). To send). Thus, the horizontal position control operation unit 100f performs horizontal position control so that the horizontal position of the car 11 follows a predetermined reference position.

  According to the elevator apparatus of the first embodiment as described above, the horizontal position control calculation unit 100f measures the amount of displacement of the car 11 from the predetermined reference position on the horizontal plane. The horizontal position control calculation unit 100f controls the position of the car 11 in the horizontal direction by driving the actuator 22d of the active mass damper 22 so as to cancel the pendulum movement associated with the raising and lowering of the car 11. With this configuration, the horizontal position of the car 11 can be maintained even when the guide rail is not used. In addition to this, the horizontal position control of the car 11 by the horizontal position control calculation unit 100f can simultaneously suppress the swing and vibration of the car 11.

  Further, the cutoff frequency of the high-pass filter 100a and the low-pass filter 100d of the horizontal position control device 100 includes the tension of the guide ropes 4A and 4B, the length of the guide ropes 4A and 4B, and the unit length of the guide ropes 4A and 4B. It is set to a value corresponding to the primary natural frequency of the string vibration of the guide ropes 4A and 4B based on the mass. When calculating the absolute displacement amount of the car 11, the horizontal position control calculation unit 100f calculates the second order integral value of the frequency component less than the cutoff frequency in the relative displacement amount and the frequency component equal to or higher than the cutoff frequency in the horizontal acceleration. And are used. That is, the horizontal position control calculation unit 100f obtains the horizontal displacement amount of the car 11 having a low frequency component from the displacement sensors 20A and 20B, and obtains the horizontal displacement amount of the car 11 having a high frequency component from the acceleration sensor 21. get. With this configuration, the influence of the primary natural frequency of the string vibration of the guide ropes 4A and 4B can be removed, and the detection accuracy of the horizontal position of the car 11 can be improved over a relatively wide frequency band.

  Here, in the conventional elevator apparatus as shown in Patent Document 1, by applying a driving force for horizontally holding the car 11 from the actuator to the guide roller, the guide rail is caused to react and the horizontal position of the car is held. Was. On the other hand, in the elevator apparatus according to the first embodiment, the active mass damper 22 is used as a displacement driving unit. With this configuration, an inertial force as a driving force for horizontally holding the car 11 can be directly applied to the car 11, and a member for generating a reaction of the driving force for horizontally holding the car 11, that is, a guide rail is used. The horizontal position of the car 11 can be maintained without any problems.

  In the first embodiment, the cutoff frequency of the low-pass filter 100d is determined based on the primary natural frequency of the guide ropes 4A and 4B. In order to make the guide ropes 4A and 4B function as a reference point with high reliability. Is preferably set to a value somewhat lower than the primary natural frequency.

  In the first embodiment, the primary natural frequency of the string vibration of the guide ropes 4A and 4B varies depending on the tension applied to the guide ropes 4A and 4B. For this reason, when tension | tensile_strength changes with growth of aged guide ropes 4A and 4B or seasonal temperature fluctuation, the value of the primary natural frequency of the string vibration of the guide ropes 4A and 4B varies. Therefore, it is more preferable to set the cut-off frequencies of the high-pass filter 100a and the low-pass filter 100d in consideration of such tension fluctuation over time.

Embodiment 2. FIG.
In the first embodiment, the active mass damper 22 is used as the displacement driving unit. On the other hand, in the second embodiment, a control moment gyro 200 is used as the displacement driving unit instead of the active mass damper 22.

  FIG. 3 is a block diagram showing an elevator apparatus according to Embodiment 2 of the present invention. In FIG. 3, the control moment gyro 200 is provided at the lower part of the car 11. Further, the driving of the control moment gyro 200 is controlled by the horizontal position control device 100 shown in FIG.

  The horizontal position control calculation unit 100f of the second embodiment rotates a gyro motor (not shown) of the control moment gyro 200 at a predetermined angular velocity. The horizontal position control calculation unit 100f controls the tilt angle and tilt angular velocity of the rotating shaft of the gyro motor, and controls the horizontal position of the car 11 to be a predetermined position by the inertia moment of the gyro motor. Other configurations are the same as those in the first embodiment.

  According to the elevator apparatus of the second embodiment as described above, the moment torque can be directly applied to the car 11 even when the control moment gyroscope 200 is used as the displacement drive unit, which is the same as in the first embodiment. The effect of can be obtained.

Embodiment 3 FIG.
In the first embodiment, the active mass damper 22 is used as the displacement driving unit. On the other hand, in the third embodiment, the hoisting machine vibration device 303 is used as the displacement driving unit instead of the active mass damper 22.

  4 is a block diagram showing an elevator apparatus according to Embodiment 3 of the present invention. In FIG. 4, a hoisting machine unit 300 is provided in the machine room 1 b of the third embodiment in place of the hoisting machine 2 and the curling wheel 3 of the first embodiment. The hoisting machine unit 300 includes a hoisting machine 301, a curling wheel 302, and a hoisting machine vibration device 303. The hoisting machine 301 and the curling wheel 302 are incorporated in a housing (actuator frame) 303a of the hoisting machine vibration device 303. The configurations of the other hoisting machine 301 and the warping wheel 302 are the same as those of the hoisting machine 2 and the warping wheel 3 of the first embodiment, respectively.

  The hoisting machine vibration device 303 has a plurality of wheels 303b, a spring 303c, and an actuator 303d in addition to the housing 303a. The plurality of wheels 303b are rotatably attached to the lower part of the housing 303a. The spring 303c and the actuator 303d are connected between the side surface portion of the housing 303a and the wall portion 1d of the machine room 1b. The actuator 303d is, for example, an electromagnet or a linear motor.

  Here, the housing 303a can be displaced in the horizontal direction by a plurality of wheels 303b. The displacement of the housing 303a is driven by a spring 303c and an actuator 303d. Driving of the actuator 303d is controlled by the horizontal position control device 100 shown in FIG. When the housing 303a is displaced, the hoisting machine 301 and the curling wheel 302 are vibrated, and the horizontal position of the car 11 is displaced via the main rope 10. Note that the hoisting machine vibration device 303 may include two or more springs 303c and actuators 303d in order to vibrate the hoisting machine 301 and the curling wheel 302 in different directions. Other configurations are the same as those in the first embodiment.

  According to the elevator apparatus of the third embodiment as described above, the actuator 303d of the hoisting machine vibration device 303 vibrates the hoisting machine 2 according to the command of the horizontal position control device 100, and the The car 11 is displaced so that the horizontal position of the car 11 becomes a predetermined position. With this configuration, it is not necessary to provide the car 11 with a mechanism for generating a driving force for horizontal displacement of the car 11, and the same effect as in the first embodiment can be obtained while suppressing an increase in the weight of the car 11. Can do.

Embodiment 4 FIG.
In the first to third embodiments, the elevator apparatus in which the elevator 11 has an up / down stroke of about 25 m has been described. Here, when the building is relatively high and the up and down stroke of the car 11 is relatively long, the natural frequency of the string vibration of the guide ropes 4A and 4B is further reduced (below 3 [Hz]). For this reason, it is necessary to set the cutoff frequencies of the low-pass filter 100d and the high-pass filter 100a to be lower. In this case, the influence of the low frequency noise of the acceleration sensor 21 becomes large, and the displacement of the car 11 cannot be detected correctly.

  On the other hand, in Embodiment 4, as shown in FIG. 5, the guide rope 4A is connected to the inner wall 1e of the hoistway 1 by a plurality of rope restraining members (guide rope restraining members) 400A to 400C. . The plurality of rope restraining members 400 </ b> A to 400 </ b> C are arranged in the height direction with an interval of about 25 [m], for example. Further, the plurality of rope restraining members 400A to 400C are, for example, metal rod-like bodies, one end portion is fixed to the inner wall 1e, and the other end portion is connected to the guide rope 4A.

  Therefore, the guide rope 4A is restrained by the rope restraining members 400A to 400C. Thereby, the natural frequency of the string vibration of the guide rope 4A is, for example, about 3 [Hz] as in the first embodiment. That is, when the guide rope 4A is restrained by the rope restraining members 400A to 400C, a reduction in the natural frequency of the string vibration of the guide rope 4A is suppressed.

  Other configurations are the same as those in any one of the first to third embodiments. 5 shows the configuration of the guide rope 4A, the configuration of the guide rope 4B is the same as that of the guide rope 4A. Furthermore, the number of the rope restraining members 400A to 400C is not limited to three.

  According to the elevator apparatus of the fourth embodiment as described above, the guide ropes 4A and 4B and the inner wall 1e of the hoistway 1 are connected by the plurality of rope restraining members 400A to 400C, and the rope restraining members 400A to 400C. By restraining the guide rope 4A, a decrease in the natural frequency of the string vibration of the guide rope 4A is suppressed. With this configuration, it is possible to maintain the accuracy of control related to the horizontal position control of the horizontal position control device 100.

  In addition, each function 100a-100f of the horizontal position control apparatus 100 in Embodiment 1-4 can also be incorporated in the operation control apparatus which controls the driving | operation of the cage | basket | car 11. FIG.

  Further, the lengths and tensions of the guide ropes 4A and 4B and the values of the respective frequencies in the first to fourth embodiments are examples, and the present invention is not limited to these.

  Furthermore, in Embodiment 1-4, the wire rope (guide rope 4A, 4B) was used as a guide rope. However, the guide cable is not limited to this example, and may be composed of a tape other than a wire rope, a belt-like cable, and a single line as long as the natural frequency can be set sufficiently high. . Furthermore, a governor rope stretched along the vertical direction in the hoistway and connected to a governor for detecting the overspeed of the car can be used as a guide rope.

  Moreover, although Embodiment 1-4 demonstrated the example which controls the horizontal position of the cage | basket | car 11, a horizontal position can be controlled by the system similar to the cage | basket 11 also about the counterweight.

  1 hoistway, 1e inner wall, 2,301 hoist, 4A, 4B guide rope (guide rope), 10 main rope (main rope), 20A, 20B displacement sensor (relative displacement detection means), 21 acceleration sensor ( Acceleration detection means), 22 active mass damper (displacement drive means), 100 horizontal position control device (horizontal position control unit), 100a high-pass filter, 100b, 100c integrator, 100d low-pass filter, 100e adder, 100f horizontal position control calculation Part, 200 control moment gyro (displacement driving means), 303 hoisting machine vibration device (displacement driving means), 400A to 400C rope restraining member (guide rope restraining member).

Claims (6)

Whether it is raised or lowered in the hoistway,
A main rope for suspending the car in the hoistway;
A hoisting machine having a sheave around which the main rope is wound, and driving the raising and lowering of the car;
A guide line provided along the vertical direction in the hoistway for guiding the raising and lowering of the car;
A relative displacement amount detecting means for generating a signal corresponding to the relative displacement amount between the cage and the guide rope;
Acceleration detecting means for generating a signal corresponding to the horizontal acceleration of the car;
A horizontal displacement driving unit for generating a driving force for displacing the car in the horizontal direction;
A horizontal position control unit that monitors the relative displacement amount and the horizontal acceleration through the relative displacement amount detection unit and the acceleration detection unit, and performs horizontal position control of the car;
The horizontal position control unit calculates a displacement amount of the car from a predetermined reference position on a horizontal plane as an absolute displacement amount based on the monitored relative displacement amount and the horizontal acceleration, and the calculated car Using the absolute displacement amount, the horizontal displacement driving unit is driven so as to cancel the pendulum movement associated with the raising and lowering of the car, thereby performing horizontal position control of the car. The horizontal position control unit includes a primary natural frequency of the string vibration of the guide line based on the tension of the guide line, the length of the guide line, and the mass per unit length of the guide line. A predetermined frequency corresponding to is preset,
The horizontal position control unit, when calculating the absolute displacement amount of the car, a second order integration of a frequency component less than the predetermined frequency in the relative displacement amount and a frequency component greater than the predetermined frequency in the horizontal acceleration The elevator apparatus according to claim 1, wherein a value is used. The elevator apparatus according to claim 1 or 2, wherein the horizontal displacement driving unit is an active mass damper provided in the car. The elevator apparatus according to claim 1 or 2, wherein the horizontal displacement driving unit is a control moment gyro provided in the car. The elevator according to claim 1, wherein the horizontal displacement driving unit is a hoisting machine vibration device that is connected to the hoisting machine and vibrates the hoisting machine in a horizontal direction. apparatus. A guide rope restraining member that connects the guide rope and an inner wall of the hoistway, and restrains the guide rope to suppress a reduction in the natural frequency of the string vibration of the guide rope. The elevator apparatus according to any one of claims 1 to 5.

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