JP2011051739A - Control device of elevator - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To secure safety by properly operating a car in an emergency in response to its rope swinging state, by accurately determining swinging (a response characteristic) of a rope caused by swinging of a building, by taking into consideration operation energy just after the rope length changes in response to the movement of a car. <P>SOLUTION: In this control device 21 of an elevator, a rope swinging arithmetic operation part 41 arithmetically operates the size of swinging of an elevator rope caused by the swinging of the building based on car position data outputted from a car position detector 23 and acceleration data outputted from two acceleration sensors 22a and 22b arranged in an upper part and a lower part of the building. In its case, a correction is made so that kinetic energy becomes the same before and after a change in the rope length caused by the movement of the car. An emergency operation determining port 43 determines a level for operating the car in an emergency based on an arithmetic operation result of the rope swinging arithmetic operation part 41, and an emergency operation control part 44 performs emergency operation corresponding to its determining level. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to an elevator control device that detects rope swings caused by an earthquake or strong wind and switches to control operation.

  When a building is made taller, the natural frequency of the building decreases, so that resonance phenomenon is likely to occur during an earthquake or a strong wind. When the resonance phenomenon occurs, the building shakes greatly, and the elevator equipment installed in the building also shakes greatly. As a result, the elevator car stops between the floors and a so-called “confinement accident” occurs.

  In order to prevent such a confinement accident, recent elevators are equipped with a safety device called a “control operation device”. This is because when an acceleration (swing) exceeding a predetermined value is detected by a sensor such as an acceleration sensor, the elevator is stopped, or if it is in operation, the car is automatically moved to the nearest floor. The passenger is taken down and then the operation is stopped.

  As described above, the basic concept of a general control operation device is to detect acceleration and determine that it is dangerous when the detected value exceeds a predetermined value and perform the control operation. However, to be precise, whether a building or elevator system is in danger due to the occurrence of an earthquake or strong wind does not depend solely on the detected acceleration, but the natural frequency of the building or elevator equipment. It also depends on the relationship with the dominant frequency of seismic waves, or on the vibration characteristics of buildings and elevator equipment (for example, see Patent Document 1).

  In addition, there is a technique in which the elevator rope is replaced with a simple one-degree-of-freedom model based on the acceleration detected by the acceleration sensor, and the control operation is performed by estimating the response of the rope (see, for example, Patent Document 2).

  There is also a technique for performing control operation by replacing the elevator rope with a multi-degree-of-freedom model or a simple one-degree-of-freedom model based on building displacement data (see, for example, Patent Document 3). ).

Japanese Patent Publication No. 6-37269 JP 2007-331901 A JP 2007-131360 A

  In Patent Document 1, individual resonance frequencies of an elevator installation including a rope are set in advance, and a control operation is performed when vibrations matching these resonance frequencies are detected. In this case, since only the resonance frequency for the rope is set at a predetermined length (for example, the longest state), if the rope length changes depending on the position of the car, there is a possibility that the control operation is discriminated. There is.

  Moreover, in the said patent document 2, since it is the structure which estimates the response of a rope simply with a 1 degree-of-freedom model, an error may arise between actual rope responses. Furthermore, in order to estimate the response of the rope according to the car position, there is a problem that a large number of one-degree-of-freedom models are required.

  Moreover, in the said patent document 3, it is the structure which estimates the amount of rope shakes based on the shake (displacement data) of a building. However, displacement data is obtained by integrating accelerometer or velocimeter measurement data, and low-frequency components (noise) may be excessively superimposed at the time of integration, and the amount of rope swing may not be estimated correctly. .

  In addition, the above Patent Document 3 discloses that a one-degree-of-freedom model equivalent to a rope swing analysis by a difference method is developed and the amount of rope swing is estimated. Is not mentioned.

  Also, normally, even if the car moves and the length of the rope changes, the kinetic energy of the rope does not change immediately. This is because the influence of the rope length change is transmitted to the entire rope by the propagation of the wave. A general one-degree-of-freedom model cannot take into account the propagation of waves in the rope. That is, since the kinetic energy changes immediately after the change in the rope length, there is a problem that an error occurs in the response characteristics of the rope swing.

  The present invention has been made in view of the above points. When a building is shaken by an earthquake, strong wind, or the like, the rope swaying (response characteristics) accompanying the shaking of the building is accompanied by the movement of the car. The purpose of the present invention is to provide an elevator control device that can be obtained accurately in consideration of the driving energy immediately after the change in height, and can ensure safety by properly controlling the car according to the state of the rope swing And

  An elevator control apparatus according to the present invention is an elevator control apparatus including a car that moves up and down via a rope installed in a hoistway of a building, and a position detection unit that detects the position of the car, Based on the first acceleration sensor installed near the upper part of the building, the second acceleration sensor installed near the lower part of the building, and the position data of the car detected by the position detecting means, Each acceleration data output from the first and second acceleration sensors is weighted in consideration of the influence of the building shake on the rope, and the amount of rope shake is calculated from time to time. And a rope sway calculation means for correcting so that the kinetic energy before and after the change in the rope length accompanying the movement of the car is the same. That.

  According to the present invention, when a building is shaken by an earthquake, strong wind, etc., the operating energy immediately after the rope length changes with the movement of the car is obtained by changing the rope shake (response characteristics) accompanying the shake of the building. It can be calculated accurately with consideration. Thus, safety can be ensured by appropriately controlling the car according to the state of the rope swinging.

FIG. 1 is a diagram showing an overall configuration of an elevator according to an embodiment of the present invention. FIG. 2 is a block diagram showing a functional configuration of the elevator control device according to the embodiment. FIG. 3 is a view showing the relationship between the vibration mode of the building and the elevator rope in the same embodiment. 4A and 4B are diagrams for explaining the natural frequency of the rope resonating with the building in the embodiment. FIG. 4A is a primary vibration mode, FIG. 4B is a secondary vibration mode, and FIG. FIG. 3C is a diagram showing a third-order vibration mode. FIG. 5 is a diagram for explaining a method of calculating the rope swing using the one-degree-of-freedom model in the same embodiment. FIG. 6 is a diagram showing an example of a list of seismic waves in the embodiment. FIG. 7 shows the No. in the seismic wave list in the embodiment. FIG. 7A shows the relationship between acceleration and time, and FIG. 7B shows the relationship between displacement and time. FIG. 8 shows the No. in the seismic wave list in the embodiment. FIG. 8A is a diagram showing the state of the response wave of the building due to the seismic wave of FIG. 7, FIG. 8A shows the relationship between acceleration and time, and FIG. 8B shows the relationship between displacement and time. FIG. 9 shows No. in the seismic wave list in the embodiment. It is a figure which shows the relationship between the acceleration waveform of a building top part and the ground surface at the time of taking the earthquake wave of 7 as an example, and time. FIG. 10 shows the No. in the seismic wave list in the embodiment. FIG. 10A is a diagram showing the relationship between the maximum displacement of the main rope and the time when the seismic wave of FIG. 7 is taken as an example. FIG. 10A shows a case where the car travels in the up direction, and FIG. A case where the vehicle travels in the down direction is shown. FIG. 11 shows the No. in the seismic wave list in the embodiment. FIG. 11A is a diagram showing the relationship between the maximum displacement of the compensation rope and time when the seismic wave of FIG. 7 is taken as an example. FIG. 11A shows the case where the car travels in the up direction, and FIG. A case where the vehicle travels in the down direction is shown. FIG. 12 is a diagram showing a comparison between the analysis result by the difference method and the analysis result by the one-degree-of-freedom model of the present method for each seismic wave in the seismic wave list in the same embodiment, taking the main rope as an example. FIG. 13 is a diagram showing a comparison between the analysis result by the difference method and the analysis result by the one-degree-of-freedom model of the present method for each seismic wave in the seismic wave list according to the embodiment, using a compensation rope as an example.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

(First embodiment)
FIG. 1 is a diagram showing an overall configuration of an elevator according to a first embodiment of the present invention. Assume that one elevator 11 is installed in a building 10.

  A hoisting machine 12 that is a drive source of the elevator 11 is installed in a machine room 10 a at the top of the building 10. In the machine roomless type elevator, the hoisting machine 12 is installed in the upper part of the hoistway 10b.

  A main rope 13 is wound around the hoisting machine 12. One end of the main rope 13 is attached to a car 14 and the other end is attached to a counterweight 15. A compensatory sheep 17 is disposed at the lowermost portion of the hoistway 10 b, and the end portions of the compensatory rope 16 are attached to the lower portions of the car 14 and the counterweight 15 via the compensatory sheep 17.

  Further, a governor (regulator) 18 is disposed near the hoisting machine 12, and a governor sheep 19 is disposed near the compensatory sheep 17, and a governor rope 20 is wound around the governor 18 and the governor sheave 8. The governor rope 20 is connected to the car 14, and the governor 18 rotates in synchronization with the traveling speed of the car 14 via the governor rope 20.

  On the other hand, in the machine room 10a or the machine room-less type of the building 10, a control device 21 for controlling the operation of the elevator 11 is installed in the hoistway 10b.

  The control device 21 includes a computer equipped with a CPU, ROM, RAM, and the like, and executes a series of processes related to operation control of the elevator 11 such as drive control of the hoisting machine 12. Further, as will be described later, when the building 10 is shaken by an earthquake, strong wind, or the like, the control device 21 has a function for calculating the amount of rope shake associated with the building shake and the rope shake obtained as a calculation result. A function for controlling the car 14 according to the amount is provided.

  “Rope swaying” refers to the rolling of the rope. In addition, the “rope” referred to here is a rope related to the raising / lowering operation of the car 14, and includes a compen- sion rope 16 in addition to the main rope 13 in the example of FIG. 1.

  Here, the first acceleration sensor 22a is installed near the upper part of the building 10 (near the installation position of the control device 21), and the second acceleration sensor 22b is installed near the lower part of the building 10 (the hoistway 10b). ing. These acceleration sensors 22a and 22b are two-axis acceleration sensors that can detect accelerations in the x and y directions.

When the building 10 shakes due to an earthquake or strong wind, acceleration data x ₁ , x ₂ are output from the acceleration sensors 22 a and 22 b according to the amount of shaking at that time, and are given to the control device 21.

  Actually, acceleration in the y direction is also detected, but here, in order to simplify the explanation, only the acceleration in the x direction is focused.

Further, the symbol “ ^· ” added to “x” represents a first derivative (speed) with respect to time, and the symbol “¨” represents a second derivative (acceleration) with respect to time. The symbols “ ^· ” and “¨” are actually added immediately above the characters as shown in the drawings, but are added to the right of the characters for convenience in the specification. There is also.

  A load sensor 24 for detecting a load load is attached to the bottom of the car 14. The load data CW output from the load sensor 24 is given to the control device 21.

  A car position detector 23 is attached to the rotating shaft of the hoisting machine 12. The car position detector 23 is composed of a pulse generator that generates a pulse signal in synchronization with the rotation of the hoisting machine 12, and is configured to detect the position of the car 14 from the count value of the pulse signal. The car position data CP output from the car position detector 23 is given to the control device 21. For example, a position sensor (not shown) may be installed on each floor, and the car position may be detected using a signal output when the car 14 passes through these position sensors.

  The controller 21 controls the hoisting machine 12 based on these detection signals. When the hoisting machine 12 is driven, the car 14 moves along the main rope 13 along the counterweight 15 in a hoistway manner.

  The control device 21 is connected to an external monitoring center 32 via a communication network 30 such as a public network. The monitoring center 31 constantly monitors the operation state of the elevator via the communication network 30, and responds by, for example, dispatching maintenance personnel to the site when any abnormality is detected.

  FIG. 2 is a block diagram showing a functional configuration of the elevator control device 21 in the embodiment.

  As shown in FIG. 2, the control device 21 includes a rope sway calculation unit 41, a storage unit 42, a control operation determination unit 43, and a control operation control unit 44.

The rope swing calculation unit 41 is based on at least the car position data CP output from the car position detector 23 and the acceleration data x ₁ and x ₂ output from the two acceleration sensors 22a and 22b. Calculate the magnitude of the elevator rope swaying.

The elevator rope is a rope related to the raising / lowering operation of the car 14, and specifically, the main rope 13 and the compen- sion rope 16. In this embodiment, as shown in FIG. 3, the maximum displacement amount is divided into four parts: a car side main rope 13a, a counter weight side main rope 13b, a car side compen rope 16a, and a counter weight side compen rope 16b. _Assume that δ _x1 , δ _x2 , δ _x3 , and δ _x4 are calculated.

The storage unit 42 stores information on preset allowable swinging displacements D _cr1 , D _cr2 , D _cr3 , D _cr4 and information on a _waiting floor during control operation. The storage unit 42 stores the amount of rope swing obtained from the rope swing calculation unit 41 in time series.

The control operation determination unit 43 includes the maximum displacement amounts δ _x1 , δ _x2 , δ _x3 , and δ _{x4 of the} rope portions calculated by the rope swing calculation unit 41 and the allowable displacement amounts D _cr1 and D _cr2 stored in the storage unit 42. , D _cr3 , and D _cr4 are compared with each other to determine a level for controlling the car 14 (display only, decelerating operation, service floor restriction, moving to a retreat floor, resting, emergency stop, etc.).

  The control operation control unit 44 executes the control operation according to the level determined by the control operation determination unit 43. In addition, when the control operation control unit 44 stops the operation of the car 14 by the control operation, the amount of rope swaying obtained until a predetermined time elapses is equal to or less than a preset value. A function to perform automatic recovery in some cases.

Next, the operation of the embodiment will be described.
When the building 10 shakes due to an earthquake or a strong wind, the acceleration sensors 22a and 22b detect the shaking of the building 10 and the ground surface, and acceleration data x ₁ and x ₂ corresponding to the amount of shaking are sent to the rope shaking calculation unit 41. Is output. Here, the description will be focused on only the x direction, but the same applies to the y direction.

  Here, by inputting the car position data CP indicating the current position of the car 14 detected by the car position detector 23 to the rope swing calculation unit 41, the lengths of the main ropes 13a, 13b and the compen- sation ropes 16a, 16b. The length is determined. For the main rope 13, the rope tension can be accurately obtained by using the load data CW obtained by the load sensor 24.

The rope swing calculation unit 41 uses the acceleration data x ₁ , x ₂ detected by the acceleration sensors 22 a, 22 b, and the maximum displacement amounts δ _x1 , δ of the main ropes 13 a, 13 b and the compen ropes 16 a, 16 b respectively. _x2 , _δx3 , and _δx4 are obtained, and these values are output to the control operation determination unit 43.

Now, the car side main rope 13a will be described as an example.
FIG. 3 is a diagram showing the relationship between the vibration mode and the elevator rope in the building 10.

Assuming that the height in the building 10 having a height of 240 m is h, the vibration mode w (h) of the building 10 is approximated by the following cubic curve.

A ₁ , a ₂ , and a ₃ are coefficients determined for each building. These coefficients a ₁ , a ₂ , and a ₃ can be obtained by modeling a building and numerically analyzing it, or can be measured after construction.

The rope shake calculation unit 41 uses the acceleration data x ₁ detected near the upper part of the building 10 and the acceleration data x ₂ detected near the lower part of the building 10 to shake the building near the upper end of the main rope 13a. Acceleration data x ¨ _a acting on and acceleration data x ¨ _b acting on a building shake near the lower end are obtained.

In this case, if the value of the vibration mode w (h) at the installation position of the first acceleration sensor 22a is “1.0”, the acceleration data x is calculated from the positional relationship between the car 14 and the main rope 13a shown in FIG. ¨ _a and x ¨ _b can be approximated by the following equation.

Incidentally, h _a is the upper end of the cage-side main rope 13a height, h _b is the height of the lower end of the cage-side main rope 13a. If the car 14 is traveling, the acceleration data x ¨ _a acting on the upper end of the main rope 13a and the acceleration data x ¨ _b acting on the lower end change according to the position of the car 14 at that time.

Here, as in the example of FIG. 1, the first acceleration sensor 22a is installed in the upper part (for example, a machine room) of the building 10, and the second acceleration sensor 22b is in the lower part of the building 10 (for example, the floor or hoistway of 1F). When had been installed at the pit portion), a w (h a) _{= 1.} Thus, the (2), x¨ _b and X _a of equation (3) is as follows.

  Next, a specific calculation example will be described.

  When the car 14 moves, the rope length changes according to the position of the car 14 at that time, so the magnitude of the rope swing also changes. In the present embodiment, the response characteristic of the rope swing to the displacement of the car 14 is accurately obtained.

The equation of motion of the one degree of freedom model is expressed by the following equation.

z: relative displacement between building and rope, ζ: damping ratio, x: forced displacement, ω ₀ : natural circular frequency of the rope. The natural circular vibration ω ₀ of the rope is obtained as follows.

  T: rope tension, ρA: mass per unit length of rope, L: rope length.

Here, when the response analysis of the rope sway to the displacement of the car is performed using the Newmark β method, the above equation (7) is transformed as the following equation. Thereby, relative displacement every moment can be calculated.

  β: numerical integration parameter, Δt: calculation time. The subscripts n and n + 1 are displacement, speed, and acceleration at times t and t + Δt, respectively.

  However, in the normal Newmark β method expressed by the above equation (8), the rope response and the one-degree-of-freedom model response cannot be made equivalent. This is because the kinetic energy in the rope immediately after the rope length changes is not taken into consideration.

  That is, when the car 14 moves, the rope length changes accordingly, but the kinetic energy of the swing of the rope is transmitted to the entire rope later than the movement of the car 14, so even if the rope length changes, Immediately after that, the kinetic energy itself is almost unchanged. In the normal one-degree-of-freedom model, this point is not taken into consideration, and the kinetic energy also changes instantaneously, so that an error occurs with the actual response characteristics of the rope swing.

Therefore, as in the following equation (9), the speed (Z ^· _{n + 1} ) immediately after the change in the rope length is a power of the ratio of the natural frequency (ω _n / ω _{n + 1} ) before and after the change in the rope length (α ) Must be multiplied by a proportional correction factor.

  α: A parameter that depends on the primary natural frequency of the building and the maximum natural frequency of the resonating rope. The optimal value of α is determined by simulation and experiment. Depending on environmental conditions such as building height and rope length, α = 1.0 when the rope resonates to the first order, α = 1.5 when the rope resonates to the second order, and resonance to the third order. In this case, α is set to 2.3.

  The main rope 12 normally resonates with the building 10 only at the first natural frequency, but the compenand rope 16 has low tension and may resonate with the building 10 up to the third natural frequency. It is necessary to consider even the mode. FIG. 4 shows the vibration mode of the compensation rope 16. 4A shows the primary vibration mode, FIG. 4B shows the secondary vibration mode, and FIG. 4C shows the tertiary vibration mode.

Here, the correction coefficient of equation (9), which is a point of the present invention, will be described in detail.
The natural circular frequencies ω _n and ω _{n + 1} of the rope before and after the change in the rope length are expressed by the following equations.

ω _n is the natural circular frequency at the rope length, ω _{n + 1} is the natural circular frequency at the rope length L−ΔL after time Δt, T is the average tension of the rope, and ρA is the mass per unit length of the rope. It is.

When the above equations (10) and (11) are expressed by the natural circular frequency of the one-degree-of-freedom model, the following equations are obtained.

k and m are the equivalent spring constant and equivalent mass of the one-degree-of-freedom model, respectively.
From the above equations (10) and (11), the change in the natural circular frequency due to the change in the rope length can be obtained as follows.

This can be expressed as a one-degree-of-freedom model as follows.

However, actually, the kinetic energy and potential energy in the rope immediately after the rope length changes do not change instantaneously. That is, when the kinetic energy is E and the potential energy is U, it is expressed by the following equation.

From the above equations (16) and (17), it can be seen that the potential energy does not change instantaneously. In order to keep kinetic energy from changing instantaneously,

As shown, it is necessary to perform the calculation of the next step.

Specifically, when the speed data Z ^· _{n + 1} obtained by the above equation (8) is obtained in the next step (that is, after Δt time), a correction coefficient (ω _n / ω _{n + 1)} is added to the speed data Z ^· _{n + 1.} By multiplying, the kinetic energy immediately after the rope length changes can be handled equally.

  That is the above equation (9). Here, the correction coefficient proportional to the power of the ratio of the natural frequency before and after the change of the rope length is multiplied. As a result, a one-degree-of-freedom model having natural frequencies from the first to the third order for the main rope 12 and from the first to the third order for the compensation rope 16 is used. Displacement can be obtained.

  Next, a calculation procedure using the one-degree-of-freedom model will be described with reference to FIG.

FIG. 5 is a diagram showing a calculation procedure of rope sway using a one-degree-of-freedom model. In this example, an example in which the amount of rope sway is calculated by the one-degree-of-freedom models 51 and 52 divided into x ₁ component and x ₂ components is shown.

In the figure, 51 indicates a first one degree of freedom model, and 52 indicates a second one degree of freedom model. m is the equivalent mass of the rope, C is the equivalent damping coefficient, and k is the equivalent spring constant of the rope. x _{1 and} x ₂ represent the displacement of the machine room and the displacement of the ground surface (here, the x direction), respectively _, and z _{1 and} z ₂ represent the displacement of the rope due to the displacement of the machine room and the displacement of the ground surface, respectively.

  The one-degree-of-freedom models 51 and 52 are incorporated in advance in the rope swing calculation unit 41 as calculation formulas for obtaining the relative displacement z between the building and the rope (see formulas (7) and (8)). The arithmetic expressions of the one-degree-of-freedom models 51 and 52 have a correction coefficient for equalizing the kinetic energy before and after the change in the rope length accompanying the movement of the car 14 (see Expression (9)).

Further, "1 + w _{(h b)"} "(1-w _{(h b)"} is a weighting factor sway of the building 10 in consideration of the influence of the main rope 13a, the above-described (4) X _a And x x _b in the equation (5).

The rope swing calculation unit 41 inputs data obtained by multiplying the acceleration data x ₁ obtained from the first acceleration sensor 22 a by a weighting coefficient (1 + w (h _b )) to the first one-degree-of-freedom model 51. Thereby, the response displacement z ₁ (t) of the main rope 13 a including the shaking component in the upper part of the building 10 is obtained.

Subsequently, the rope swing calculation unit 41 inputs a weighting coefficient (1-w (h _b )) to the second one-degree-of-freedom model 52 for the acceleration data x ₂ obtained from the second acceleration sensor 22b. Thereby, the response displacement z ₂ (t) of the main rope 13 a including the shaking component at the lower part of the building 10 is obtained.

Next, the rope swing calculation unit 41 adds the response displacements z ₁ (t) and z ₂ (t) to obtain the response displacement of the entire rope (z ₁ (t) + z ₂ (t)). This is repeated every predetermined time t, and the displacement distribution in the height direction of the rope is calculated in consideration of the vibration mode as shown in FIG. 4, and the control operation determination unit _uses the maximum displacement δ _x1 as the calculation result. Output to 43.

In this way, the predetermined weighting is applied to the acceleration data x ₁ , x ₂ obtained from the two acceleration sensors 22 a and 22 b to reflect the component of the building shake, and then the one-degree-of-freedom model 51, Substituting into 52, the maximum displacement δ _x1 of the main rope 13a is obtained. As described above, the arithmetic expressions of the one-degree-of-freedom models 51 and 52 have correction coefficients for equalizing kinetic energy before and after the change in the rope length accompanying the movement of the car 14.

Further, the rope sway calculation unit 41 performs the same calculation process on the counter weight side main rope 13b, the car side compen rope 16a, and the counter weight side compen rope 16b, which are the other rope parts, and the maximum displacement δ thereof. _x1 , _δx2 , _δx3 , and _δx4 are obtained and output to the control operation determination unit 43.

  In the case of the compensation ropes 16a and 16b, the first one-degree-of-freedom model 51 and the second one-degree-of-freedom model 52 are used for the primary, second-order, and third-order natural frequencies of the rope, respectively. In this case, according to the resonance characteristics of the rope, α = 1.0 when resonating to the first order, α = 1.5 when resonating to the second order, and α = 2 when resonating to the third order. .3 is calculated by multiplying the speed of the rope by a correction coefficient proportional to the power of the natural frequency ratio before and after the change in the rope length accompanying the movement of the car.

  Here, the calculation result by this method will be verified with a specific example.

  FIG. 6 is a diagram showing an example of a list of seismic waves used for response analysis. No. in the figure. 1-No. The seismic wave 4 was obtained from the Japan Architecture Center. Of these, No. 1-No. 3 is the actual seismic wave. 4 is simulated earthquake motion. No. 5-No. Eleven waves are actual seismic waves obtained from the strong motion observation network K-net.

  FIG. 7 shows No. in the list of seismic waves. FIG. 7A shows the relationship between acceleration and time, and FIG. 7B shows the relationship between displacement and time.

  FIG. 8 shows the No. in the seismic wave list. FIG. 8A is a diagram showing a response wave state of the building 10 caused by the seismic wave 7, FIG. 8A shows the relationship between acceleration and time, and FIG. 8B shows the relationship between displacement and time. In addition, although the example where the height H of the building 10 is 240 m is shown here, the same applies to different heights, for example, the height H of the building 10 is 32 m, 60 m, 80 m, 100 m, 120 m, and 180 m. Check it out.

  Here, as an example, No. in the seismic wave list of FIG. FIG. 9 to FIG. 11 show the results of comparing the high-accuracy analysis result (FDM-a) by the difference method and the analysis result (SDOF-a) by the one-degree-of-freedom model of this method for the seismic wave 7.

  FIG. 9 shows the calculation results when the building height is 180 m and the elevator (car 14) travels at a speed of 300 m / min. FIG. 10 is a diagram showing the relationship between the acceleration waveform of the building top and the ground surface and time when the seismic wave 7 is taken as an example, FIG. 10 is a diagram showing the relationship between the maximum displacement of the main rope 13 and time, and FIG. It is a figure which shows the relationship between the maximum displacement of and time.

  The analysis result of the one-degree-of-freedom model is graphed by multiplying the coefficient (2 / π) depending on the mode. It can be seen that the analysis result by the difference method and the analysis result by the one degree of freedom model are in good agreement. This means that when this method is used, the amount of rope swing can be accurately calculated with the same accuracy as the difference method.

  Further, since the method of analyzing the rope sway by the difference method is well-known as described below, the description thereof is omitted here.

  “Hiroyuki Kimura, Hiroaki Ito, Toshiaki Nakagawa, Elevator rope transverse vibration analysis (forced vibration of a rope whose length changes with time), Transactions of the Japan Society of Mechanical Engineers (C), 71-706 (2005-6), pp .1871-1876 ".

  In FIG. 7 shows a time history waveform of acceleration when a building having a height of 180 m and the ground are shaking when 7 seismic waves are generated. The solid line in the figure is the acceleration waveform at the top of the building, and the dotted line is the acceleration waveform at the ground surface.

  FIG. 10 and FIG. 11 show the results of analyzing the rope swing for each hour when the car 14 travels at 300 m / min (5 m / sec) after the occurrence of this seismic wave.

  In FIG. 10, the horizontal axis indicates the travel start time of the car 14, and the vertical axis indicates the maximum displacement of the main rope 13 obtained during the stop of the car after the occurrence of the earthquake and from the start to the stop of the travel of the car 14. ing. FIG. 10A shows a case where the car 14 travels in the up direction, and FIG. 10B shows a case where the car 14 travels in the down direction.

In FIG. 11, the horizontal axis represents the travel start time of the car 14, and the vertical axis represents the maximum displacement of the compen- sion rope 16 obtained while the car was stopped after the earthquake occurred and from when the car 14 traveled until it stopped. ing. FIG. 11 (a) shows the case where the car 14 travels in the up direction, and FIG. 11 (b) shows the case where the car 14 travels in the down direction. The travel start time of the car 14 is on the horizontal axis. In this data, the maximum displacement of the rope from the occurrence of the earthquake to the stop of the car is shown when the car 14 starts running 115 seconds after the occurrence of the earthquake and the car stops at 150 seconds. Rope sway is analyzed before the start of running and even when the car is stopped.

  As shown in FIG. 10 (a), at the time of up, the response of the main rope 13 increases in the latter half (that is, when the travel start time is late). This is due to the influence of the shaking (because the rope was shaken by the earthquake even while the car was stopped).

  That is, the car 14 at the time of up is stopped on the lowest floor until the start of traveling. At this time, the main rope 13 is long and the compensation rope 16 is short. Since the main rope 13 is close to the resonance point, when the car 14 is stopped near the lowest floor, the shaking becomes large.

  On the other hand, the car 14 at the time of down is stopped on the top floor until the start of traveling. At this time, the main rope 13 is short and the compensation rope 16 is long.

  Only the first order of the main rope 13 coincides with the primary natural frequency of the building, but the compensation rope 16 resonates to the first, second, and third orders. For this reason, the number of times that the compensation rope 16 passes through the resonance point during the traveling of the car (the number of times that the natural frequency of the rope matches the natural frequency of the building) increases. Therefore, the phenomenon becomes complicated and the calculation error tends to increase.

  Next, No. of the seismic wave list of FIG. 1-No. The relationship between the analysis result of the difference method and the analysis result of the one-degree-of-freedom model (maximum rope displacement) is shown in FIGS. FIG. 12 shows the maximum displacement of the main rope 13, and FIG. 13 shows the maximum displacement of the compensation rope 16.

The maximum displacement of each rope is made dimensionless by dividing it by the machine room maximum displacement _u0max . From these figures, it can be seen that the actual maximum rope displacement u _max (FDM-a) is obtained by multiplying the analysis result u _max (SDOF) in the one-degree-of-freedom model by a coefficient (2 / π). This means that when this method is used, the amount of rope swing can be accurately calculated with the same accuracy as the difference method.

In this way, the rope swing calculation unit 41 obtains the maximum displacement amount δ _x1 , δ _x2 , δ _x3 , δ _x4 of the rope swing for each of the ropes 13a, 13b, 16a, 16b. The control operation determination unit 43 compares these maximum displacement amounts δ _x1 , δ _x2 , δ _x3 , δ _x4 with the allowable displacement amounts D _cr1 , D _cr2 , D _cr3 , D _cr4 stored in the storage unit 42, The level of control operation is selected according to the margin.

The level of control operation is divided into the following five stages.
・ Level 1: Warning display only
・ Level 2: Deceleration operation
・ Level 3: Restrictions on service floor ・ Level 4: Move to a shelter floor and pause ・ Level 5: Emergency stop

  When the maximum displacement amount of any one of the ropes 13a, 13b, 16a, 16b exceeds the allowable displacement amount of the rope, the greater the difference between the maximum displacement amount and the allowable displacement amount, the higher the level control. Driving is selected.

  Specifically, when the difference between the maximum displacement amount and the allowable displacement amount is d and the threshold values for levels 1 to 5 are th1 to th4, the control operation determination unit 43 selects the control operation level as follows, The control operation at the selected level is executed by the control operation control unit 44.

D <th1: level 1
Th1 ≦ d <th2: Level 2
Th2 ≦ d <th3: Level 3
Th3 ≦ d <th4: Level 4
Th4 ≦ d: Level 5.

  Further, even after the operation of the car 14 is stopped by the control operation, the rope swing amount is continuously calculated, and the calculation result is stored in the storage unit 42. Then, when the earthquake has ceased, the control operation control unit 44 determines that it is safe to recover automatically when the amount of rope sway stored up to that point is less than or equal to a preset value. The driving of the car 14 is started. Thereby, when the shaking of the earthquake is relatively small, the operation can be resumed immediately without waiting for the restoration work by the maintenance staff.

As described above, according to this embodiment, the two acceleration sensors 22a and 22b are used to detect the shaking of the building 10 at two locations, and the acceleration data x ₁ and x ₂ output as the detection results are included in the building. The amount of swaying of the rope is calculated by weighting the effect of 10 swaying on the elevator rope, so that the kinetic energy before and after the change in the rope length accompanying the movement of the car 14 is the same. By performing the correction, the response characteristic of the rope swing according to the car position can be obtained more accurately.

  Further, by performing the control operation based on the calculation result, it is possible to prevent the collision and entanglement of the rope with the equipment in the hoistway, and further the confinement accident in the car.

  In the above embodiment, the amount of rope shake is calculated using the data of both of the two acceleration sensors 22a and 22b. However, the second acceleration sensor 22b installed in the lower part of the building 10 is “shake due to earthquake”. The configuration may be such that the calculation of the rope sway is performed using only the first acceleration sensor 22a installed on the upper part of the building 10 and used to determine “sway due to strong wind”.

  That is, when the building 10 is shaking due to strong wind, the second acceleration sensor 22b installed at the lower part of the building 10 does not detect the shaking. Therefore, in the rope sway calculation unit 41, when only the first acceleration sensor 22a detects a sway, it is determined that the sway is caused by a strong wind, and when both the acceleration sensors 22a and 22b detect a sway. Judged as “seismic shaking”.

When it is determined that “shake caused by earthquake”, the rope shake calculation unit 41 calculates the amount of rope shake using the acceleration data x ₁ output from the first acceleration sensor 22a. Specifically, in the above equations (4) and (5), the x ₂ component is set to 0, and the amount of rope sway is obtained using the first one-degree-of-freedom model 51 of FIG.

  In this way, if the configuration is such that only the first acceleration sensor 22a is used to calculate the amount of rope swing, the second acceleration sensor 22b can be replaced with an existing P-wave sensor. The number can be reduced.

  In addition, the second acceleration sensor 22b is used to determine whether the vibration is caused by an earthquake or a strong wind. If the vibration is caused by an earthquake, based on the acceleration data obtained by the second acceleration sensor 22b, After calculating the shaking amount of the building 10, the rope shaking amount may be calculated from the shaking amount of the building 10.

  Further, the result of calculating the shaking amount of the building 10 using the acceleration data obtained by the first acceleration sensor 22a is compared with the shaking amount of the building 10 using the acceleration data obtained by the second acceleration sensor 22b. By doing so, it is also possible to check the soundness of the building 10. In this case, if the two calculation results are substantially the same, it can be determined that the building 10 is healthy. If there is a large difference between the two calculation results, it is determined that the building 10 has a structural abnormality. it can.

  Further, the acceleration data obtained by the second acceleration sensor 22b is used to determine whether the vibration is caused by an earthquake or a strong wind, and “seismic control operation” and “strong wind control operation” are selectively selected according to the determination result. You may make it perform to. Thereby, the load of the control operation determination unit 43 can be reduced.

  Note that “strong wind control operation” performs operation control such as stopping the car 14 at the nearest floor according to the magnitude of the rope sway, as in “seismic control operation”. In this case, since the wind does not stop immediately, there is a difference that the time for stopping the car 14 is set longer than “seismic control operation”.

  In each of the above embodiments, the elevator having the compen- sion rope 16 has been described as an example. However, an elevator without the compen- sion rope 16 can also be applied. Further, in addition to the main rope 13 and the compensation rope 16, the present invention can also be applied to a case where the governor rope 20 is swayed.

  In short, the present invention is not limited to the above-described embodiments as they are, and can be embodied by modifying the components without departing from the scope of the invention in the implementation stage. In addition, various forms can be formed by appropriately combining a plurality of constituent elements disclosed in the above embodiments. For example, some components may be omitted from all the components shown in the embodiment. Furthermore, constituent elements over different embodiments may be appropriately combined.

  DESCRIPTION OF SYMBOLS 10 ... Building, 10a ... Machine room, 11 ... Elevator, 12 ... Hoisting machine, 13 ... Main rope, 13a ... Car side main rope, 13b ... Counter weight side main rope, 14 ... Ride car, 15 ... Counter weight, 16 ... Compen rope, 16a ... Car side compen rope, 16b ... Counter weight side compen rope, 17 ... Compen sheep, 18 ... Governor, 19 ... Governor sheep, 20 ... Governor rope, 21 ... Control device, 22a ... First acceleration sensor, 22b ... second acceleration sensor, 23 ... car position detector, 24 ... load sensor, 30 ... communication network, 31 ... monitoring center, 41 ... rope sway calculation unit, 42 ... storage unit, 43 ... control operation determination unit, 44 ... control operation control unit, 51 ... first one degree of freedom model, 52 ... second one degree of freedom model.

Claims (6)

In an elevator control device equipped with a car that moves up and down via a rope installed in a hoistway of a building,
Position detecting means for detecting the position of the car;
A first acceleration sensor installed near the top of the building;
A second acceleration sensor installed near the bottom of the building;
Based on the position data of the car detected by the position detecting means, each acceleration data output from the first and second acceleration sensors is weighted in consideration of the influence of the shaking of the building on the rope. And a rope sway calculation means for performing correction so that the kinetic energy before and after the change in the rope length accompanying the movement of the car becomes the same during the calculation. An elevator control device characterized by the above.   2. The rope sway calculation means calculates by multiplying a sway rate of the rope by a correction coefficient proportional to a ratio of natural frequencies before and after a change in rope length accompanying the movement of the car. Elevator control device.   The rope sway calculation means multiplies the rope sway rate by a correction coefficient proportional to the power of the ratio of the natural frequency before and after the change in the rope length accompanying the movement of the car, according to the resonance characteristics of the rope. The elevator control device according to claim 1, wherein the control device performs calculation.   The elevator control apparatus according to claim 3, wherein the power of the correction coefficient depends on the maximum order of the natural frequency of the rope that resonates with the primary natural frequency of the building. Control operation determination means for selecting a level for controlling the car based on the amount of rope swing obtained by the rope swing calculation means;
The elevator control device according to any one of claims 1 to 4, further comprising control operation control means for executing control operation corresponding to the level selected by the control operation determination means.   The control operation control means restarts the operation of the car when the amount of swaying of the rope obtained so far is less than or equal to a predetermined value after the operation of the car is controlled. The elevator control device according to claim 5.

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