JP3112050B2 - Elevator vibration suppressor - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an elevator control device, and more particularly to an elevator vibration suppression control device capable of providing a good ride quality.

[0002]

[Prior Art] Japanese Patent Publication No. 3-30161 (Japanese Patent Application No. 59-110264)
Input an operation mechanism for operating the controlled object according to the manipulated variable command value, a detector for detecting the controlled variable of the controlled object, and a controlled variable detected value and a controlled variable command value which are outputs of the detector. And a control operation unit that outputs a manipulated variable command value by using a control operation unit that obtains a control amount detection value via a transfer function Gx (s) and a control amount detection value and the control amount command value and the transfer function to the output of the control amplifier simulating the transfer from the operation amount command value to the controlled variable-detecting amount function G _L (s) to input GLH (s) transfer function Gx of (s) Transfer function (Gx (s) obtained by adding 1 to the transfer function Gx (s) · GLH (s) of the product
The difference (B−A) from the value B obtained via G _LH (s) +1)
Is output as a manipulated variable command value to improve the disturbance response without changing the command value response.

Also, Japanese Patent Application Laid-Open Nos. 52-43246 and 61-20
Japanese Patent No. 3081, Japanese Patent Application Laid-Open No. Sho 62-211277, and the like propose a method of directly detecting a vibration component of an elevator car and feeding it back to a speed control device to suppress the vibration of the car.

Further, a compen pulley for pulling the compensating rope connecting the car and the counterweight in the pit direction is provided, and a sliding portion and a dash pot are provided between the support portion of the compen pulley and the pit. A method of mechanically suppressing the vibration of the car by suppressing the phenomenon that the compensating pulley also moves up and down when the car and the counterweight vibrate in phase (mainly occurs when the car is near the middle floor). It is mainly used for models higher than high-speed elevators.

[0005]

In the first prior art, a deviation signal between a control amount command value and a control amount detection value is input and obtained as a calculation result through a model from the operation amount command to the detection value. It is intended to improve the performance against disturbance by adding a deviation between the estimated value of the controlled variable and the detected value of the controlled variable to the manipulated variable command value portion.

However, in this method, since the vibration disturbance component is already mixed in the manipulated variable command value which is an input signal to the model, the estimated value of the controlled variable obtained as a calculation result through the model is the controlled variable. Estimated value component for command and estimated value component for disturbance component are included,
Even if a difference signal from the control amount detection value is obtained, the value is not directly a command to make the disturbance zero in the control amount detection unit. In other words, even if the phase relationship between the estimated value of the controlled variable and the detected value of the controlled variable ideally coincides with each other, the component serving as the source of the disturbance suppression signal is (estimated value of the controlled variable minus control value. (Detection value), which is smaller than the value that should be used for the suppression signal, and requires gain correction and the like. Further, when the phase relationship between the estimated value of the control amount and the detected value of the control amount does not match, a signal component other than the basic signal related to the disturbance component (a component whose phase and magnitude change according to the phase difference). ) Is mixed into the disturbance suppression signal, and it is considered that it is difficult to effectively apply the vibration suppression in combination with the occurrence of other adverse effects.

In the second prior art, various devices for directly detecting a vibration component of an elevator car and using the detected signal as a signal for vibration suppression control have been proposed.
It seems that there are essential issues in practical use, such as the reliability of the acceleration sensor itself and the removal of noise superimposed on the signal line wired to the control device in the machine room on the top floor several hundred meters away from the sensor.

Further, in the third prior art, in a low-speed elevator or the like in which a compensating chain is used instead of a compensating rope, it is hard to implement a mechanical vibration suppressing means such as a sliding portion or a dashpot. Due to the difficulty, the car was slightly vibrated in these models.

SUMMARY OF THE INVENTION An object of the present invention is to solve the above-mentioned problems of the prior art, and to generate longitudinal vibration of an elevator car, that is, a natural vibration frequency band of a mechanical system determined by a rope system and a car, a counterweight, a motor, and the like. An object of the present invention is to provide an elevator vibration suppressing device capable of suppressing uncomfortable car vibration.

[0010]

According to the present invention, an object of the present invention is to provide an elevator model in an elevator speed control device, and to control an electric motor by a vibration suppression signal determined based on the output of the model. Is achieved by

[0011]

[Function] Since the vibration suppression signal is created using an elevator model and used for speed control, there is little adverse effect such as noise from outside, no special cost increase, and speed control of the elevator with little longitudinal vibration. realizable.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of an elevator vibration suppression control apparatus according to the present invention will be described below in detail with reference to the drawings.

FIG. 1 is a block diagram showing an overall configuration of an elevator apparatus to which the present invention is applied.

In FIG. 1, reference numeral 1 denotes an elevator speed command, and 2 denotes a speed detector for detecting the actual speed of the elevator system. Here, the speed detector is directly connected to a rotating shaft of an electric motor or a sheave 6 or a brake drum (not shown). ), A pulse generator that detects the speed of the motor driven by friction
3 is a detected actual speed signal obtained by processing the output of the actual speed detector.
Is a comparator for calculating the deviation between the speed command and the detected actual speed signal,
5 is a control operation unit such as a proportional integrator for constructing a speed control system, 7 is an adder of a torque command 8 and a vibration suppression command 9 which is an output of the control operation unit 5, and 10 is an electric power of an inverter or a converter. A converter, 11 is an elevator driving motor such as an induction motor or a DC motor, 12 is a main rope, 13 is a car, 14 is a counterweight, and 15 is an inertial system which considers a mechanical system such as a car or rope as a completely rigid body. And an elevator rigid body model 16 including an electric system such as a drive system and a control system. Reference numeral 16 denotes an estimated speed of an electric motor obtained from a speed command 1 and an elevator rigid body model including an inertial system in which a mechanical system such as a car or a rope is regarded as a completely rigid body. 17 is a comparator model that simulates the control operation unit 5, 18 is a control operation unit model that simulates the power operation unit 10, 19 is a power converter model that simulates the power converter 10. Machine 11 the simulated electric motor model,
Reference numeral 21 denotes an inertial system model in which a mechanical system such as a car or a rope is regarded as a completely rigid body, and 22 denotes an elevator rigid body model.
A comparator for obtaining a car speed pulsation signal 23 which is a deviation between the estimated speed 17 obtained from the above and a signal via a switch 36 for switching either the detected actual speed signal 3 or a car estimated speed 26 described later. Reference numeral 24 denotes a signal converter that receives the speed pulsation signal 23 and generates a pulsation suppression signal 9. Reference numeral 25 denotes a mechanical system including a car model 32, a counterweight model 33, and a sheave model 34. This is the second model combined. This second model 2
The other elements in the control operation unit model 29, the power converter model 30, the electric motor model 31, the estimated speed 27, and the comparator 28 have the same configuration as the first model 15. In this model 25, of the mechanical system of the actual elevator,
Although the compensating chain 35 has a simplified configuration, it is not possible to observe the vibration phenomena of all the mechanical system resonance frequencies existing in the actual mechanical system.
It can be said that it is possible to estimate the next and second order resonances. Further, a pulsation generation simulating element 37 is inserted into the second model as an element for simply and equivalently generating a torque pulsation normally generated in the power converter model 30, and a signal is added at an addition point 38. To excite the car 32. At this time, it is necessary that the period and phase of the signal generated by the pulsation generation simulation element 37 serving as the excitation source are synchronized with the pulsation waveform that will be generated by the power converter 10. As a specific realizing means, when the power converter 10 is, for example, an inverter device, at a point corresponding to each phase zero cross of the three-phase output of the inverter, that is, at a frequency six times the frequency in synchronization with the inverter output. An excitation signal is generated and superimposed by receiving a synchronization signal from a PWM signal generator (not shown) in the power converter 10 so as to excite the signal.

Due to this vibration signal, the car 32 in the second model causes almost the same swing as the actual car 13, and the signal 26 becomes a moving speed signal of the car on which the swing is superimposed. Here, if the switch 36 is tilted to the signal 26 side, the subtraction from the pulsation-free first estimated speed 17 is performed at the addition point 22, and the estimated pulsation component of the car flows into the signal 23. . On the other hand, if the switch 36 is tilted to the side of 3, the difference between the motor speed including the pulsation component generated on the motor shaft and the estimated speed without the pulsation component is obtained in the signal 23. A pulsating component flows in. Since these components pass through the signal converter 24 and are added to the addition point 7 with the opposite polarity, the generated pulsation component is fed back inside the velocity feedback loop which is the main loop, and the pulsation component is effectively removed. Can be countered.

In this configuration, the operating principle of the system will be described with reference to FIG. The description will be given on the assumption that the switch 36 is tilted as shown in FIG. In FIG. 2, S1 is an example of a speed command 1, S3 is an example of a detected actual speed signal 3, S17 is an example of an estimated speed 17 obtained from the elevator rigid body model 15, and S23 is an example of the detected actual speed signal 3 and the estimated speed 17. An example of the deviation signal, S9, is an example of the pulsation suppression signal 9, which is the output of the signal converter 24. Here, the detected actual speed S3 is superimposed with a speed pulsation due to mechanical vibration during acceleration / deceleration, but the estimated speed S17 is not superimposed with a vibration component due to mechanical vibration because the model is a rigid body. . Therefore,
S23, which is the deviation signal between S3 and S17, can faithfully extract the mechanical vibration component as it is. Next, the signal S23 is compensated for the delay element of the power converter 10 and the electric motor 11 via the signal converter 24, and the phase adjustment φ and the gain are adjusted as in S9 and input to the addition point 7 as a minor loop. Then, a control system for canceling the vibration at the point of the speed detector 2 by this command component is constructed.

A mode in which vibration cannot be detected at the sheave 6 or the end of the motor shaft, such as a mode in which the car 13 and the counterweight 14 simultaneously swing in the same direction (obtained from the detected actual speed signal 3 and the elevator rigid body model 15). Estimated speed 17
In the vibration mode where the vibration suppression control cannot be performed with the combination of) or in the mode where the value can be detected but the value is extremely small,
When the switch 36 is turned down, the deviation signal S23 becomes a difference signal between the estimated motor shaft speed S17 and the estimated car speed 26. If the vibration suppression control is performed using this signal, the vibration generated in the car The vibration suppression control according to the component is executed, and the suppression control is possible. An example of such a situation is shown in FIG. As can be seen from the figure, the ease of detecting vibration in each section, that is, the detection gain changes in accordance with the position of the car and the amount of passenger (not shown). Here, a simulation result focusing on a certain natural frequency is shown. It can be seen that almost no vibration phenomenon can be detected in the electric motor portion when the car position is around 220 m, but vibration can be detected in the car portion. .

In this case, there is no mechanical vibration damping mechanism using a combination of a compensating rope, a compensating pulley, and a damper mounted between the compensating pulley and the pit floor, which are generally used for a model higher than a high-speed elevator. The system has been described as an example. That is, the compensating chain 35 connects the car 13 and the counterweight 14, and has only a function of compensating for a change in the unbalanced load of the main rope depending on the position of the car. In systems with compensating ropes, damping can be expected in the mode in which the compens pulley vibrates up and down (the mode in which the car and the counterweight move up and down in phase). Suppression of vibration was given up, but this proposal made it possible to suppress vibration.

FIG. 4 shows an example of a simulation result showing the effect of the present invention. As simulation conditions, the building height is 230 m, the number of passengers is zero, and when the car position is performing an ascending operation near the top floor, the driving motor simulates the driving force and torque ripple, and the car is simulated. The longitudinal vibration acceleration that occurs in the vehicle is calculated. When the compensation processing of the present invention is not performed, the longitudinal vibration acceleration of the car is about ± 0.025 m / s ² , and when the compensation processing is performed, the longitudinal vibration acceleration of the car is about ± 0.007 m / S ²
It can be seen that it is improved to about 1/3. In this method, as long as the vibration component of the mechanical system can be detected by the motor unit for driving the elevator, there is no mixed signal source or element from the model, so that the speed pulsation signal 23 can be obtained in the form of the vibration component as it is. Further, since the pulsation in the motor section is suppressed by appropriately compensating the delay characteristic from the adder 7 to the motor 11 by the signal converter 24, the uncomfortable longitudinal vibration of the car hanging ahead of the motor section is suppressed. Can also be suppressed. Also, the method using the elevator model 25 has the same vibration damping effect.

FIG. 5 shows a specific example of the construction of the signal converter 24. FIG. 5 incorporates a phase advance / delay adjustment element and a gain adjustment element for appropriately suppressing pulsation in the motor section in consideration of the delay characteristics of elements from the adder 7 to the motor 11. FIG. 6 shows an example of the frequency characteristic from the adder 7 to the electric motor 11, but the characteristic (gain and phase) of the elevator system also changes in connection with the change of the input vibration frequency. When the technique of the present application is applied to a frequency band of about 1.2 Hz as an example of a rope-type primary vibration, for example, the delay from the addition point 7 to the generation of the speed is about -35 °. If a phase advance of about 35 ° is set to compensate for the phase delay of 35 °, a sufficient effect can be obtained by suppressing the vibration by injecting the speed pulsation component. Further, under the condition that the condition of the car changes due to a change in the position of the car and the like, and a vibration near 7 Hz is likely to occur as an example of the secondary vibration of the rope system, the phase advance amount may be changed to about 100 °. By changing or switching the correction amount of the gain and the gain, it is possible to effectively suppress a plurality of resonance vibration phenomena that change and occur depending on the operating conditions.

FIG. 7 incorporates a high-pass filter in addition to the function of FIG. 5 to suppress low-frequency pulsations generated by a decrease in the steady-state gain of the control system, whereby the deviation signal is fed back in a minor loop. As a result, there is another effect that a good transient response can be obtained while securing the normal effect of suppressing vibration.

The inertia of the inertial system model 21 in the elevator rigid body model is linked to the current number of passengers in the elevator car to change the inertia, or the mechanical system in the comprehensive model 25 changes according to the rope length. If the weight of the car, which changes by linking to the spring constant, damping coefficient, and the number of passengers in the car, is finely changed according to the situation of the actual machine (car position and number of passengers), it can be obtained from the rigid elevator model 15. The accuracy of the estimated speed 17 and the estimated value 26 of the car speed can be increased, and as a result, an accurate pulsation suppression signal 9 can be generated, so that the vibration suppression effect of the car can be enhanced.

Further, as another embodiment, as shown in FIG. 8, if a band-pass filter for blocking components other than the frequency band f ₀ targeted for vibration suppression is provided in the signal converter 24, vibration suppression can be achieved. Since the operation of the present pulsation signal injection route for a frequency band other than the target frequency can be invalidated, adverse effects on other frequency bands of the present route can be almost eliminated.

Further, inside the signal converter 24, it is checked whether or not the signal corresponding to the vibration suppression command 9 as the output deviates from the magnitude and frequency predicted in advance as a normal elevator system. If
Setting limits on the output, preventing the output itself, or issuing an alarm will not only achieve the original purpose of improving ride comfort, but also balance important items for elevator systems that do not impair safety. This has the effect of enabling

FIG. 9 shows another embodiment. In this embodiment, a modification of the second model is used as the third model.
That is, in the second model 25, the speed command is not the speed command 1 supplied to the actual elevator apparatus, but a zero speed command. On the other hand, the pulsation generating element 37 generates a pulsation through the addition point 38 in synchronization with a pulsation component that would actually be generated in the power converter and the electric motor, and vibrates the car model 32. The synchronous pulsation component is generated by synchronizing a control signal given to the power converter, particularly, when the power converter is in a mode change represented by a frequency six times the inverter frequency in an inverter device or the like. Model 2
Since the speed command in 5 is zero, the estimated speed signal of the car is zero, and only the speed pulsation component of the car is detected as the estimated signal, and the signal becomes the pulsation signal 23 as it is, The configuration is such that the signal is converted into the vibration suppression signal 9 via the converter 24 and is injected from the adder 7 into the control system. In this embodiment, the pulsation component can be estimated only by the third model, and the calculation process of the microcomputer can be shortened because the first model calculation is unnecessary. There is.

FIG. 10 shows another embodiment. Here, the second model as the third model is further simplified than in FIG. Specifically, the car 32 is suspended from the fixed end by a main rope, and is constituted by two elements of a pulsation generating element 37 for exciting the upper end thereof.
Here, a vibration mode that cannot be extracted by the combination of the first model of FIG. 1 and the detection speed 3 (a mode in which the counterweight and the car swing in the same direction and the sheave 6 does not rotate left and right due to the swing) In), the counterweight and the car swing in the same direction, and the sheave 6
Paying attention to the fact that is a fixed end, the mechanical system is configured with only a main rope and a car. Also in this embodiment, the pulsation component can be estimated only by the third model, the first model calculation is unnecessary, and the calculation processing of the microcomputer can be further shortened, and a system construction such as using an inexpensive microcomputer is possible. There are other benefits on.

Also, in FIG. 1, the elevator rigid body model 15 and the signal converter 24 are shown as separate devices from the normal speed control device, but like the comparators 22 and 4, the control operation unit 5 and the like. If software is built in the microcomputer for elevator control, a control system resistant to noise and the like can be constructed. Of course, the vibration suppression effect of the present invention is not impaired even if it is constructed by an analog circuit or the like independently of a control operation unit such as a proportional integrator for constructing a speed control system. In this case, a problem occurs with software. Since there is no restriction on the processing speed, there is another effect that the frequency of the vibration to be damped can be expanded to a high frequency region.

Further, in FIG. 1, in order to detect a deviation signal between the model and the actual speed, the actual speed of the elevator system is detected by a speed detector which frictionally drives the shaft end of the electric motor or the circumference of the sheave. Therefore, the actual speed signal used for the original speed control can be shared with the actual speed signal, and the possibility of introducing noise into the control circuit and reducing the possibility of noise contamination due to the short signal line is reduced. There is an effect that a highly reliable system can be constructed.

Further, from the viewpoint of gain change, FIG.
As can be seen from FIG. 3, in addition to the frequency characteristics from the adder 7 to the electric motor 11 shown in FIG. 3, the ease of detection of vibration, that is, the detection gain changes according to the position of the car and the amount of passengers (not shown). Therefore, in order to stably operate the vibration suppression control system, the gain K shown in FIGS. 5 and 7 is made variable according to the position of the car and the amount of passengers. In this way, stable vibration suppression control can be performed regardless of the operating conditions of the elevator, so that good riding comfort can be obtained. Specifically, if the value of K is tabulated with respect to the car position and the amount of passengers, and this is searched by the car position and the amount of passengers, the process can be completed in a short time. The area can be widened. Further, if the value of K is calculated each time, there is another effect that the memory for tabulation can be omitted although the calculation time is slightly longer.

Further, the elevator rigid body model 1 shown in FIG.
5, among the inertia-based models 21, there is a possibility that the inertia changes depending on the position of the car and the amount of passengers. This change causes a non-vibration component error of the speed between the estimated speed 17 and the detected actual speed 3, and mixes an extra component such as a bias component into the speed pulsation signal 23. Therefore, in the present application, the inertia of the inertial system model 21 in the rigid elevator model 15 is changed according to the car position and the number of passengers. This has another effect that stable vibration suppression can be realized irrespective of the operating state of the elevator.

In the embodiment shown in FIG. 1, the elevator rigid body model 15 only needs to estimate a so-called fundamental wave component which does not include a vibration component among the generated speeds corresponding to the speed command. Such simulation is not always required. Therefore, the power converter model 19 and the motor model 20 are not detailed models but are approximated to a degree of first-order lag. As an effect, there is an industrial effect that not only can save the memory space required for storing the model, but also can simplify the operation and use an inexpensive microcomputer.

Further, if the interval of detection of the actual measurement degree used for calculating the deviation from the estimated speed 17 is shorter than the detection interval of the value used by the comparator 4, the vibration suppression command 9
Can be supplied to the control system at short intervals, the frequency band related to vibration suppression can be expanded to the high frequency side, and there is an effect that the vibration damping effect can be exerted even for higher frequency vibrations.

[0033]

As described above, according to the present invention, the vibration phenomenon of the car can be suppressed without being adversely affected by external noise and the like, and avoiding an increase in cost due to a special additional device. Therefore, uncomfortable vertical sway of the car due to the rope system can be reduced.

[Brief description of the drawings]

FIG. 1 is a diagram showing an overall configuration of an elevator apparatus to which the present invention is applied.

FIG. 2 is a diagram for explaining the operation principle of the present invention.

FIG. 3 is a diagram for explaining the operation principle of the present invention.

FIG. 4 is a simulation result diagram showing the effect of the present invention.

FIG. 5 is a diagram showing a specific embodiment of the signal converter 24.

FIG. 6 is a diagram for explaining the operation principle of the present invention.

FIG. 7 is a diagram showing a specific embodiment of the signal converter 24.

FIG. 8 is a diagram showing a specific example of the signal converter 24.

FIG. 9 is a diagram showing another embodiment.

FIG. 10 is a diagram showing another embodiment.

[Explanation of symbols]

1: speed command, 2: speed detector, 3: detected actual speed signal,
7 ... Adder, 9 ... Vibration suppression command, 10 ... Power converter, 1
1 ... Elevator drive motor, 13 ... Car, 15
... Elevator rigid body model, 17 ... Estimated motor speed, 1
9, 30 ... power converter model, 20, 31 ... motor model, 21 ... inertial system model, 22 ... comparator, 23, 37,
38: speed pulsation signal, 24, 24-1, 24-2: signal converter, 25: elevator general model, 26: estimated elevator car speed, 32-34: elevator mechanical system model, 39: switch, K: signal The gain of the converter, T ₁ , T ₂ , T ₃ ... The time constant of the transmission element in the signal converter, f ₀ ... The center frequency of the band-pass filter.

──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Mitsuyo Nishikawa 7-1-1, Omika-cho, Hitachi City, Ibaraki Prefecture Within Hitachi Research Laboratory, Hitachi, Ltd. (72) Inventor Sadao Hokari 7-1-1, Omika-cho, Hitachi City, Ibaraki Prefecture No. 1 Hitachi, Ltd., Hitachi Research Laboratory (72) Inventor Toshio Meguro 1070, Mo, Katsuta, Ibaraki Pref. Inside Mito Plant, Hitachi, Ltd. (72) Inventor Toshiaki Kurosawa 1-6-6, Kandanishikicho, Chiyoda-ku, Tokyo Stock (56) References JP-A-61-203081 (JP, A) JP-A-62-111277 (JP, A) JP-A-2-106575 (JP, A) JP-A-52-43246 (JP, A) JP-A-60-254201 (JP, A) JP-A-6-135644 (JP, A) JP-A-61-145090 (JP, A) (58) t.Cl. ⁷ , DB name) B66B 1/00-1/52

Claims (7)

(57) [Claims] An elevator drive system for driving an elevator mechanical system comprising a rider, a counterweight, a main rope connecting the two and a compensation chain, and an elevator controller for controlling the speed of the drive system. In the first elevator model including an inertial system in which the mechanical system such as the car is regarded as a completely rigid body, wherein the speed command of the driving device is input into the elevator control device and the estimated speed of the driving device is output. When,
A second elevator model including an elevator mechanical system that receives the speed command of the driving device as an input and outputs the estimated speed of the car is provided.The estimated speed of the driving device, which is the output of the first model, and the second A deviation signal from the estimated speed of the car, which is the output of the model, is obtained, and this signal is input inside a speed control loop in the elevator control device. 2. An elevator drive system for driving an elevator mechanical system comprising a rider, a counterweight, a main rope connecting the two and a compensation chain, and an elevator controller for controlling the speed of the drive system. In the first elevator model including an inertial system in which the mechanical system such as the car is regarded as a completely rigid body, wherein the speed command of the driving device is input into the elevator control device and the estimated speed of the driving device is output. When,
Providing a second elevator model that receives the speed command of the driving device as input and outputs the estimated speed of the car,
A first deviation signal between the estimated speed of the drive, which is the output of the first model, and the estimated speed of the car, which is the output of the second model, and the drive, which is the output of the first model A second deviation signal between the estimated speed of the driving device and the detected actual speed of the driving device is obtained, and when the car is present near the middle floor, the first deviation signal is obtained. A vibration suppression control device for an elevator, wherein the second deviation signal is input to a position inside a speed control loop in the elevator control device when the second deviation signal exists outside the vicinity of the floor. 3. An elevator control system comprising an elevator drive device for driving an elevator mechanical system comprising a ride, a counterweight, and a main rope connecting the two, and an elevator control device for controlling the speed of the drive device. A third model including a mechanical model and a pulsation generating element for exciting the mechanical model is provided, and the estimated pulsating velocity component of the car, which is the output of the third model, is used as a vibration suppression signal in the elevator control device. A vibration suppression control device for an elevator, characterized in that the input is made inside a speed control loop. 4. A method according to claim 1, wherein said second or third elevator model includes a mechanical system model comprising a car, a driving device, a counterweight and three springs and a main rope spring system. 4. An elevator vibration suppression control device according to claim 3. 5. The first or third elevator model includes a mechanical system model comprising a spring system of a main rope between one space of a car and a car and a driving device.
Item 4. The vibration suppression control device for an elevator according to item 2, 2 or 3. 6. A driving device in the second elevator model includes an element for simulating the generation of torque pulsation, and an output signal of the driving device serves as a vibration source of a mechanical system in the elevator model. Item 3. The vibration suppression control device for an elevator according to Item 2 or 2. 7. The method according to claim 1, wherein the gain of the deviation signal is variably controlled under the operating conditions of the elevator.
The vibration suppression control device for an elevator according to the above paragraph.