JP3124384B2 - Elevator speed response control constant auto-tuning device - 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 speed response control constant automatic tuning apparatus for automatically adjusting an elevator speed response control constant.

[0002]

2. Description of the Related Art In general, in an elevator, the quality of riding is considered to be an important factor in performance as well as its safety and reliability. The quality of riding comfort is determined by whether or not to perform a smooth speed reference waveform and optimal speed control following the reference waveform.

[0003] Conventionally, adjustment work of the speed response control constant of the elevator has been performed when the elevator is installed. This is based on a step-like speed reference V shown by a broken line in FIG.
While checking the speed response to 1, that is, the initial response waveform V2 shown by the solid line with a waveform recorder, Δ
The work of adjusting the speed response control constant of the speed control unit so that V and Δt fall within a predetermined reference value has been performed. In addition, the speed responsiveness, even if given the same speed response control constant,
It may change due to mechanical familiarity after operation because it changes due to mechanical factors, and in some cases there is a big change a few months after installation,
In some cases, it had to be readjusted.

[0004]

However, in the conventional elevator, such adjustment of the speed response control constant is performed manually by an operator, and thus has the following problems. That is, the speed response control constant of the elevator is 1
Instead, a method generally called PID control is adopted, where P is a proportional element, I is an integral element, and D is a differential element. The combination of these three elements changes the shape of the initial response. It is necessary to adjust the three factors so that the values of .DELTA.V and .DELTA.t are considered to be the optimum values while observing. However, there is a problem that it takes a long time to adjust.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned conventional problems, and a control constant for obtaining an optimum speed response for improving ride comfort can be obtained without using a waveform recorder. It is an object of the present invention to provide an elevator speed response control constant auto-tuning device that can be automatically adjusted within a short time without individual differences.

[0006]

SUMMARY OF THE INVENTION An elevator speed response control constant auto-tuning apparatus according to the present invention performs a speed command generation unit for giving a step speed command, and performs speed control on the step speed command of the speed command generation unit. A speed controller and a step speed command of the speed command generator
And comparing the actual speed with the speed controlled by the speed control unit,
Delay time and overshoot are registered in advance.
A response characteristic determining unit that determines whether the reference value is within a predetermined range of a reference value, and a speed response control constant adjusting unit that adjusts a speed response control constant of the speed control unit based on a determination result of the response characteristic determining unit. It is provided with.

[0007]

According to the elevator speed response control constant auto-tuning device of the present invention, the speed control unit has a built-in PI in response to a step-like speed command given by the speed command generation unit.
Speed control is performed by PID control based on the D control constant so that the actual elevator speed follows. And the speed characteristic judgment unit
Is the speed in response to the step speed command from the speed command generator.
The actual speed controlled by the control unit is compared with the actual speed, and the delay time Δt
And whether the overshoot ΔV is within a predetermined range of a pre-registered reference value , and if not, the speed response control constant adjusting unit
The control constant is readjusted and given to the speed control unit.

The speed control unit performs the above-described speed control operation based on the newly given control constant, and adjusts the control constant until the response characteristic determination unit determines that ΔV and Δt fall within the reference values. Repeat automatically.

In this way, a control constant that enables speed control with good riding comfort in response to the step-like speed command given by the speed command generator is automatically found and set in the speed controller.

[0010]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below in detail with reference to the drawings.

The elevator speed response control constant auto-tuning apparatus according to the present invention is actually realized by a software program using a microcomputer. FIG. FIG.

As shown in FIG. 1, an elevator generally includes a car 1 having a counterweight 3 through a wire rope 2.
It is connected to. The motor 4 transmits the rotational force to the sheave 6 via the brake drum 5.
As the sheave 6 rotates, the rope 2 wrapped around the sheave 6 raises and lowers the car 1.

The speed of the car 1 is controlled by controlling the rotation speed of the motor 4. A speed control unit 7 is provided for controlling the rotation speed of the motor 4, and performs PID control. Further, when the elevator is stopped or when there is no power supply, there is no rotational force of the motor 4 and a mechanical stopping force is required. As a brake mechanism, a brake shoe 8 made of a material having a high friction coefficient is , And is pressed against the brake drum 5 to stand still.

A speed command generator 1 for giving a step speed command to a speed controller 7 in order to realize an automatic speed response control constant tuning apparatus for an elevator according to the present invention.
0, a response characteristic determining unit 11 for determining a speed control response characteristic based on the PID control performed by the speed control unit 7 in response to the step speed command given by the speed instruction generating unit 10, and a determination by the response characteristic determining unit 11. A speed response control constant adjusting unit 12 for adjusting the speed response control constant of the speed control unit 7 based on the result, and a speed detector 13 for feeding back the speed of the motor 4 to the speed control unit 7 are provided.

Furthermore, in this embodiment, since it is necessary to execute the initial response operation in a state where the weight imbalance between the car 1 and the counterweight 3 is electrically corrected, the load in the car is detected. A load detector 14 for providing the speed control unit 7 is provided.

Next, the operation of the elevator speed response control constant auto-tuning device having the above configuration will be described.

Referring to the waveform diagram of FIG. 2, an explanation will be given on the individual response. In general, the speed response characteristic is used as a criterion for determining whether or not a value of a time Δt (= T3−T2) and a speed deviation ΔV described later are within a certain reference value.

First, at the timing T1, the adjuster gives a speed response control constant auto-tuning command to the adjustment unit 12, and the speed control unit 7 receives the command from the adjustment unit 12, and sends the command to the car 1 and the counter. The torque corresponding to the weight difference from the weight 3 is output to the motor 4. As a result, at timing T2, the brake release command is output in a state where the mechanical imbalance is balanced by the electric torque, that is, in the stationary control state,
The motor 4 is brought into a mechanically free state.

Thereafter, the speed control unit 7 receives a step-like speed reference from the speed command generation unit 10 based on the command from the adjustment unit 12, starts the motor 4, and starts the speed detector 1.
The PID speed control is performed while comparing the speed feedback amount from No. 3 with this speed reference. At this time, a preset initial value is used as a control constant used for the PID control.

At this time, the speed waveform from the speed detector 13 is analyzed by the response characteristic judging unit 11, and the time Δt from the start to 0.63V with respect to the speed reference V is obtained.
(= T3−T2) and the value of the overshoot amount ΔV are used to determine the speed response characteristic. If Δt and ΔV fall within the predetermined reference values, the adjustment is terminated. Otherwise, the response characteristic determination unit 11 changes the control constant to the adjustment unit 12 and issues a command to perform the readjustment operation. Output.

Then, the adjusting unit 12 judges from the values of Δt and ΔV, calculates a constant in a direction closer to the reference value,
This is output to the speed control unit 7 as a new PID control constant.

Thereafter, ΔT and ΔV are obtained from the above-mentioned velocity waveforms, and it is determined whether or not they are within the reference value. If they are, adjustment is completed, and if not, the same operation is repeated. become.

Here, as the adjustment amount of the PID control constant with respect to Δt and ΔV, it is assumed that a value empirically obtained in advance is stored in the adjustment unit 12. And in general, Δ
When t is smaller than the optimum value, it is appropriate to adjust the P element or the I element to be decreased and the D element to be increased. However, as an actual adjustment procedure, the I and D elements are reduced. , A value such that Δt is within the reference value only with the P element, ΔV is made larger than the reference value by increasing the I element, and Δt is decreased, and then the D element is increased to approach the reference value. . Further, in actuality, since there is a rough value in advance from the empirical value for the P element, it can be realized by adjusting only the I and D elements except for special cases.

The above speed response control constant auto tuning operation will be described with reference to the flowchart of FIG.
First, the waveform V of the actual speed with respect to the step speed command V1
2 is obtained (step S1), and Δt is obtained first (step S2), and it is determined whether or not it is within a reference value (step S3).

If Δt is within the reference value, then ΔV is obtained (step S4), and it is determined whether or not it is within the reference value (step S5). If both values are within the reference value, the adjustment is terminated (step S5). S6).

However, in the determination of Δt in step S3, if it is not within the reference value, it is determined whether or not the I element is within the adjustable range (step S3).
7) If the adjustment is possible, first, the I element is changed. If the I element is not in the adjustable range, the D element is changed, and the values are re-adjusted as new speed control constants. (Steps S8 to S11).

If Δt falls within the reference value, ΔV is readjusted subsequently (steps S1 to S5). If ΔV does not fall within the reference value, the D element is adjusted. It is determined whether it is within the adjustable range (step S12), and if it is within the adjustable range, the D element is changed (step S9). If not, the I element is changed (step S9).
8) A readjustment operation is performed using those values as new speed control constants (steps S10 and S11).

When both Δt and ΔV finally fall within the reference values, the automatic tuning operation of the speed response control constant is completed (step S).
1 to S6).

In this manner, the speed response control constant for improving the ride comfort is automatically found, and the PID of the speed control unit is determined.
The elevator can be used as a control constant, and an elevator operation with a comfortable ride can be performed.

[0030]

As described above, according to the present invention, a PID based on a PID control constant is applied to a step-like speed command.
The speed is controlled by the control so that the actual elevator speed follows, and it is determined whether the response characteristic of the actual speed to the speed command falls within the reference value. If the response characteristic does not fall within the reference value, the PID control constant is automatically set. The speed control operation is performed after re-adjustment, and the control constant adjustment is automatically repeated until the response characteristics fall within the reference value. Can be automatically found and used for speed control, which eliminates the need for adjustment by a skilled technician as in the past, shortens the adjustment time, and allows automatic re-adjustment as needed. Service can be improved.

[Brief description of the drawings]

FIG. 1 is a functional block diagram of an embodiment of the present invention.

FIG. 2 is a waveform chart showing speed response characteristics.

FIG. 3 is a flowchart showing a control constant automatic adjustment operation of the embodiment.

[Explanation of symbols]

 Reference Signs List 1 car 3 counter weight 4 motor 7 speed control unit 10 speed command generation unit 11 response characteristic determination unit 12 control constant adjustment unit 13 speed detector

Claims (1)

(57) [Claims] A speed command generation unit for giving a step speed command; a speed control unit for performing speed control on the step speed command of the speed command generation unit; Said
The actual speed controlled by the speed control unit is compared with the actual speed, and the delay time
And the reference value for which overshoot is registered in advance
A response characteristic determining unit that determines whether the speed response is within a predetermined range, and a speed response control constant adjusting unit that adjusts a speed response control constant of the speed control unit based on the determination result of the response characteristic determining unit. Auto-tuning device for speed response control constant of elevator.