JP3350307B2 - Hydraulic elevator speed controller - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hydraulic elevator in which a hydraulic flow rate supplied to a hydraulic jack for raising and lowering a car (hereinafter simply referred to as "car") of an elevator is controlled by the speed of a hydraulic pump drive motor. BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a speed control device, and more particularly to a hydraulic elevator speed control device capable of realizing high-precision elevating speed control.

[0002]

2. Description of the Related Art FIG. 4 is a block diagram showing a configuration example of a conventional hydraulic elevator speed control device of this kind.

In FIG. 4, a pulse generator (P
G) The feedback control of the _vertical speed detection value 8a obtained via the vertical speed calculation circuit 8 and the vertical speed calculation circuit 8 is performed while comparing with the _vertical speed target value _Vcref . Reference numeral 41 enclosed by a two-dot chain line in the figure denotes a part for performing the PI control (proportional-integral control) of the elevation speed feedback control, and a current command value 41a given to the oil flow control valve of the process G (s) to be controlled. Is output. Then, the opening of the oil flow control valve is controlled by the current command value 41a to change the oil flow, thereby changing the elevator speed of the car.

In FIG. 4, K _p is a proportional gain, T _I is an integration time, and α is a proportional gain adjustment coefficient.

Here, the proportional gain K _p and the integration time T _I are determined by the PI control gain table 42 according to the oil temperature and the load pressure. In addition, since the characteristic of the control target process G (s) changes according to the elevator speed level of the car, the control gain restricting function 43 changes the proportional gain adjustment coefficient α to stabilize the control.

At the start of the elevator, since it is difficult to respond by feedback control, the starting current setting model 44 and the PI output initial value setting function 45 use
An initial value of the control output is determined in advance, and a control valve current command value until the feedback control is turned on is determined.

However, in a speed control device of the type which feeds back the elevation speed of a car as shown in FIG.
There are the following issues.

(A) There is a natural vibration system inside the feedback system, which causes the stability of the elevation speed control system to decrease. In particular, a natural vibration caused by a car vibration generated when a passenger jumps and jumps inside the car becomes a problem.

(B) The raising and lowering speed of the car is controlled by the degree of opening and closing of the oil flow control valve. At this time, however, since the hydraulic pump drive motor is operated at the maximum speed, there is a problem in energy saving.

In order to solve these problems, there is a system in which the opening / closing degree of the oil flow control valve is fixed and the raising / lowering speed of the car is controlled by changing the speed of the motor driven by the hydraulic pump. It is called an inverter hydraulic elevator because it is controlled by the device).

FIG. 5 is a block diagram showing a schematic configuration example of a speed control device for an inverter hydraulic elevator of this type.

In FIG. 5, an AC voltage supplied from a three-phase commercial power supply 21 is once converted into a DC voltage by a diode converter 22 and a smoothing capacitor 23, and then the inverter 24 is controlled by a PWM (pulse width modulation) control circuit 31. , And is converted into an AC having a variable voltage and a variable frequency and supplied to a hydraulic pump drive motor (for example, an induction motor) 25.

A pulse generator (VD) 26 for detecting a rotational speed is directly connected to the hydraulic pump drive motor 25. The rotational speed of the hydraulic pump drive motor 25 is controlled by a speed feedback detected by the pulse generator 26. Feedback control is performed by the signal 26a.

As a result, the rotation speed of the hydraulic pump drive motor 25 changes in accordance with the car speed command value. During the ascending operation, the amount of pressure oil sent from the hydraulic pump 27 to the plunger 28 is determined by the pulse generator 7. Is controlled in accordance with a car speed command value 32a from a speed command generating circuit 32 for generating a speed command by inputting the detection signal of the above. Control can be performed according to the value 32b.

That is, from the activation of the car 29 to the landing,
The car 29 is controlled smoothly according to the car speed command value.

The PWM control circuit 31 receives a current command 33a output from the speed control circuit 33 and a current feedback signal 34a from the current detector 34. The input of the speed control circuit 33 is a pressure sensor 35 Pump pressure signal 35a and the plunger pressure signal 3 of the pressure sensor 36
6a, a motor speed feedback signal 26a, a car speed command 32a, and a car speed feedback signal 26a.

In order to securely hold the car 29 at rest, the main oil passage connecting the hydraulic pump 27 and the plunger 28 is provided with a check valve 30 that opens and closes in synchronization with starting and stopping. I have.

In the inverter hydraulic elevator speed control system of this type, (a) the motor speed feedback is mainly used instead of the vertical speed feedback, so that the natural vibration system existing between the motor speed and the vertical speed is a feedback system. , Which is advantageous in terms of system stability.

(B) Since the motor speed is changed according to the change in the elevating speed, it is advantageous in terms of energy saving.

However, in the inverter hydraulic elevator speed control device, since the motor speed is fed back, the relationship between the motor speed and the elevator speed of the car is not always constant due to the influence of oil leakage and the like. For this reason, if the control is performed by paying attention only to the motor speed, there arises a problem that the elevator speed of the car cannot be controlled according to a predetermined pattern.

In addition, the relationship between the motor speed and the elevator speed changes depending on the oil temperature and the load pressure (the number of passengers) due to the effects of oil leakage and the like.

[0022]

As described above, the conventional hydraulic elevator speed control apparatus has a problem that it is difficult to realize high-precision lifting / lowering speed control.

An object of the present invention is to provide a hydraulic elevator speed control device capable of realizing high-precision elevating speed control.

[0024]

In order to achieve the above object, a hydraulic elevator speed control device for controlling the flow rate of oil supplied to a hydraulic jack for raising and lowering a car of an elevator by the speed of a hydraulic pump drive motor. At
In the invention corresponding to claim 1, the motor speed detecting means for detecting the speed of the hydraulic pump drive motor, the car speed detecting means for detecting the elevating speed of the car, and the motor speed detection value detected by the motor speed detecting means A feedback control of the hydraulic pump drive motor to follow the target value of the hydraulic pump drive motor speed control means, and a speed conversion means for converting the elevator speed of the car detected by the car speed detection means to the motor speed. A target value follow-up control means for causing the elevator speed of the car detected by the car speed detecting means to follow the car speed command, a detected value of the car elevator speed detected by the car speed detecting means, and an elevator speed target of the car. And a car vibration suppressing means for suppressing the vibration of the car based on the value of the car. A car speed conversion motor speed estimation means for calculating a car speed conversion motor speed estimation value based on the speed target value, and a car speed conversion motor speed estimation value calculated by the car speed conversion motor speed estimation means; High and low frequency noise reduction means for calculating a correction for suppressing the vibration of the elevator based on a deviation from the detected value of the elevator speed of the car.

Further, in the invention corresponding to claim 2, the motor speed detecting means for detecting the speed of the hydraulic pump driving motor, the car speed detecting means for detecting the elevating speed of the car, and the motor speed detecting means. Feedback the detected motor speed value to convert the speed of the hydraulic pump drive motor to the target value, and to convert the elevator speed of the car detected by the car speed detector to the motor speed. Speed converting means, target value follow-up control means for following the car elevating speed detected by the car speed detecting means to the car speed command, and a detected car elevating speed detected by the car speed detecting means. Based on the elevator speed target value,
Elevator characteristic change compensating means for compensating for changes in the hydraulic and mechanical characteristics of the elevator, and vibration of the car based on the detected value of the car's elevating speed detected by the car speed detecting means and the desired value of the car's elevating speed. Car vibration suppression means, the car vibration suppression means, based on the elevator speed target value of the car, a car speed conversion motor speed estimation means to calculate a car speed conversion motor speed estimation value, Based on the deviation between the estimated car speed converted motor speed estimated value calculated by the car speed converted motor speed estimating means and the detected elevator car speed, a correction amount for suppressing the vibration of the elevator is calculated. Frequency noise reduction means.

Therefore, in the hydraulic elevator speed control device according to the present invention, the vibration of the car is suppressed, and the target value follow-up control is performed by using the detected value of the ascending / descending speed of the car, whereby the riding of the elevator is controlled. It is possible to realize comfortable and high-precision elevating speed control.

In the hydraulic elevator speed control apparatus according to the present invention, the vibration of the car is suppressed, and the influence of the change in the elevator characteristics such as the number of passengers and the oil temperature is compensated for. By performing the target value follow-up control using the detected value of the ascending / descending speed, it is possible to realize high-accuracy ascending / descending speed control with good riding comfort, easy adjustment.

[0028]

Embodiments of the present invention will be described below in detail with reference to the drawings.

(One Embodiment) FIG. 1 is a functional block diagram showing a configuration example of a hydraulic elevator speed control device according to the present embodiment.

That is, as shown in FIG. 1, the hydraulic elevator speed control device of this embodiment has
Target value following control means 12, speed conversion means 13,
Hydraulic pump drive motor speed control means 14, elevator hydraulic / mechanical system 15, motor speed detection means 16, car speed detection means 17, elevator characteristic change compensation means 18
And the car vibration suppressing means 19.

[0031] Here, the noise reduction unit 11, based on the deviation V _ce of the car speed command V _cref and the car speed detected value V _cfb, to reduce high-frequency noise components generated during the car speed detection, accurate error signal V _ce1 is calculated.

The target value tracking control means 12 corrects the car speed target value based on the error signal V _ce1 calculated by the noise reduction means 11 so that the car speed V _c follows the car speed command V _cref. The signal V _ce2 is calculated.

Further, the speed conversion means 13 includes a car speed command V _cref , a car speed target value correction signal V _ce2 by the target value follow-up control means 12, a correction signal V _d by the elevator characteristic change compensating means 18, and a car vibration suppressing means 19. a correction signal or car speed target value V _Cref3 calculated by V _b by, but to convert the motor speed command Vm _ref.

On the other hand, the hydraulic pump drive motor speed control means 14 feeds back the hydraulic pump drive motor speed detection value Vm _fb detected by the motor speed detection means 16 so as to reduce the motor speed Vm to the hydraulic pump drive motor speed target value. Vm _ref .

Further, the elevator hydraulic and mechanical system 15 is a control object of the present invention, depending on the motor speed Vm, the elevator car moves up and down at a speed V _c.

Furthermore, the motor speed detector 16 and the car speed detecting means 17, is, for example, a pulse generator (PG) and the like, each motor speed Vm, and the car of the lift speed (hereinafter, simply referred to as the car speed) V _c Is to be detected.

The elevator characteristic change compensating means 18
Is the car speed target value V _cref3 and the car speed detection value V
Based on the _cfb, calculates the correction amount V _d to reduce the influence of characteristic changes of the elevator, the car speed target value V
_{This is} to correct _cref3 .

Further, the car vibration suppressing means 19 calculates a correction amount _Vb for suppressing the vibration of the elevator based on the car speed target value V _cref2 and the detected car speed value V _cfb , and calculates the car speed target value. V _cref2 is corrected.

Next, the operation of the hydraulic elevator speed control device of the present embodiment configured as described above will be described.

In FIG. 1, the noise reduction means 11
Deviation V between car speed command V _cref and detected car speed value V _{cfb
From ce} , a high-frequency noise component generated at the time of detecting the car speed is reduced, and a _highly accurate error signal V _ce1 is calculated.

In this case, the calculation method in the noise reduction means 11 may be, for example, V _ce1 = 1 / (1 + T _f · s) ² · V _ce .

Here, T _f is an adjustment parameter, which can be set by numerical simulation, analysis of detected car speed, and the like.

The effect of the high frequency noise on the target value follow-up control means 12 and the hydraulic pump drive motor speed control means 14 can be reduced by the noise reduction means 11, thereby realizing the accurate car elevating speed control. Can be.

When high frequency noise does not pose a problem (for example, when the performance of the speed detector is good), the noise reduction means 11 may be omitted.

Next, the target value follow-up control means 12 uses the error signal V _ce1 calculated by the noise reduction means 11 to calculate
A car speed target value correction signal V _ce2 is calculated so that the car speed V _c follows the car speed command V _cref .

In this case, various calculation methods are conceivable as calculation methods in the target value follow-up control means 12. In this embodiment, PI control (proportional / integral control) is applied as follows.

[0047] _{V ce2 = (1 + T r2} · s) / (T r1 · s) · V ce1 Here, T _r1, T _r2 are adjustment parameters.

Conventionally, as described above, this parameter is set by a gain table in accordance with the oil temperature and the load pressure, but at that time, it is difficult to adjust the gain table.

On the other hand, in the present embodiment, since the characteristic change due to the oil temperature and the load pressure is compensated by the elevator characteristic change compensating means 18, the gain table is unnecessary or greatly simplified, and the adjustment load is adjusted. Is significantly reduced.

Next, in the speed conversion means 13, the car speed target value V _cref3 generated by the target value follow-up control means 12, the elevator characteristic change compensating means 18 and the car vibration suppressing means 19 is _added to the motor speed command Vm _ref . Converted.

That is, as a method of calculating the car speed target value V _cref3 , for example, the following formula is used.

[0052] _{V cref3 = V cref + V ce2} -V d -V b In this case, as the calculation method in the speed conversion means 13 may be, for example, as _{Vm ref = Km c · V cref3} .

[0053] Here, Km _c is a proportionality constant representing the ratio between the car speed and the motor speed can be set from the elevator hydraulic and mechanical system 5.

Next, the hydraulic pump drive motor speed control means 14 feeds back the hydraulic pump drive motor speed detection value Vm _fb detected by the motor speed detection means 16 so that the motor speed Vm is reduced by the hydraulic pump drive motor speed. It is following the speed target value Vm _ref.

On the other hand, the motor speed detecting means 16, and the car speed detecting means 17, respectively motor speed Vm, and the car speed V _c is detected.

Next, in the elevator characteristic change compensating means 18, the car speed target value V _cref3 and the car speed detected value V
using _cfb, calculates the correction amount V _d to reduce the influence of characteristic changes of the elevator, the car speed target value V
_cref3 is corrected.

In this case, the elevator characteristic change compensating means 1
The calculation method in 8 may be, for example, V _cref3 = V _cref2 −V _d .

[0058] Here, in particular for calculating the correction amount V _d, in this embodiment, to apply a technique called a disturbance estimating observer. Observers were introduced in 1964 by D.C. G. FIG.
A theory proposed by Luenberger,
From the input / output information, an unobservable state variable among the state variables of the control target system (values characterizing the system, in the case of an elevator, such as a motor speed, a car speed, and a pressure) is estimated. Things. This theory has already been reported for practical use in the industrial field, and details thereof are disclosed in publicly known documents such as "Observer (Corona, Iwai et al.)".

Next, a disturbance observer used in this embodiment will be briefly described.

The disturbance estimation observer estimates an unknown disturbance applied to a control target using an observer and cancels it.

That is, in FIG. 2, the control target 1 is
It is assumed that the input / output characteristics greatly fluctuate due to the influence of the unknown disturbance. On the other hand, the unknown disturbance is estimated by the disturbance estimation observer using the input / output of the control target 1, and the input is corrected so as to cancel the influence.

As a result, the controlled object 2 including the disturbance estimation observer retains the input / output characteristics of the controlled object 1 when there is no disturbance.

Therefore, when controlling the control target 2,
It is not necessary to consider the influence of disturbance, and a control system with high accuracy and easy adjustment can be configured.

In the hydraulic elevator which is the object of the present invention, the loss (difference between the theoretical discharge amount and the actual discharge amount) in the hydraulic pump is a major problem in improving the control performance. It is possible to compensate for pump losses. In addition, it is also possible to compensate for a change in load due to a change in passenger or a change in spring constant due to a change in rope length.

Next, the car vibration suppressing means 19 calculates a correction _Vb for suppressing the vibration of the elevator using the car speed target value V _cref2 and the detected car speed value V _cfb , and calculates the car speed target value. The value V _cref2 is corrected.

In this case, the calculation method in the car vibration suppressing means 19 may be, for example, V _cref2 = V _cref1 −V _b .

Here, in order to calculate the correction _Vb , in the present embodiment, for example, the calculation as shown in FIG. 3 is performed.

First, using the car speed target value V _cref2 ,
The car speed translation motor speed estimation unit 191 calculates the car speed translation motor speed estimated value Vm _c.

In this case, various estimating methods can be applied as the estimating method in the car speed converted motor speed estimating means 191. In the present embodiment, for example, the following equation is used.

Vm _c = [1 / (1 + Tm · s)] · V _cref2 Here, Tm is an adjustment parameter, and can be set by an actual machine chart, a numerical simulation, or the like.

Subsequently, the estimated car speed converted motor speed V
using the deviation Vm _ce of the m _c and the car speed detection value V _cfb,
The correction _Vb is calculated by the high / low frequency noise reduction means 192.

Here, in order to suppress the vibration of the elevator, it is necessary to extract only the frequency component of the vibration to be suppressed, so this means is required.

In this case, the high / low frequency noise reduction means 192
In a method of calculating the correction amount V _b is, for example _{V b = [K d · s} / (1 + T c · s) 2] · Vm may be obtained in the _ce.

Here, K _d is an adjustment gain, and T _c is an adjustment parameter, and these values may be set by numerical simulation and finely adjusted when applied to an actual machine.

[0075] As described above, the hydraulic elevator speed controller of the present embodiment, reduced based on the deviation V _ce of the car speed command V _cref and the car speed detected value V _cfb, high-frequency noise components generated during the car speed detection and a noise reducing unit 11 for calculating a good error signal V _ce1 accuracy, based on the error signal V _ce1 calculated by the noise reduction unit 11, so as to follow the car speed V _c to the car speed command V _cref,
A target value follow-up control unit 12 for calculating a car speed target value correction signal V _ce2, car speed command V _cref, the car speed target value by the target value follow-up control unit 12 the correction signal V _ce2, the correction signal by the elevator characteristic change compensating means 18 V _d , a speed conversion means 13 for converting the _car speed target value V _cref3 calculated by the correction signal V _b by the car vibration suppression means 19 into a motor speed command Vm _ref , and a hydraulic pump detected by the motor speed detection means 16 A feedback control of the drive motor speed Vm _fb to make the motor speed Vm follow the hydraulic pump drive motor speed target value Vm _ref , a hydraulic pump drive motor speed control means 14, and a motor speed V
m, and the motor speed detecting means 16 for detecting the car speed V _c, and the car speed detecting means 17, based on the car speed target value V _Cref3, and the car speed detected value V _cfb, reduce the influence of characteristic changes of the elevator to calculate the correction amount V _d for a elevator characteristic change compensating means 18 for correcting the car speed target value V _Cref3, the car speed target value V
_CREF2, and based on the car speed detection value V _cfb, calculates the correction amount V _b for suppressing vibration of an elevator, squirrel vibration suppressing means for correcting the car speed target value V _CREF2 19
It consists of and.

Therefore, high-frequency noise generated when the car speed _Vc is detected is reduced, and the car speed Vc that does not include high-frequency noise is _subjected to target value follow-up control, so that it is possible to perform highly accurate elevating speed control. .

Further, since high-frequency components can be removed from the motor speed command Vm _ref , motor speed control performance can be improved.

Further, by using the disturbance estimation observer, the influence of characteristic changes such as the loss of the hydraulic pump, the load pressure fluctuation due to the number of passengers, and the fluctuation of the spring constant of the rope is reduced, so that the ascending and descending speed control with high accuracy can be performed. It is possible to do.

On the other hand, by suppressing the car vibration, it is possible to improve the riding comfort.

[0080] Further, the target value follow-up control of the car speed V _c, but using the PI control as in the case of the aforementioned conventional (proportional integral control), and means 18 for compensating a characteristic change of an elevator Therefore, there is no need to finely change the parameters using the gain table, and the adjustment load can be significantly reduced.

Further, since the characteristic change is compensated and the vibration is suppressed, the control response speed can be set higher than in the prior art. That is, this is because the improvement of the control response speed and the suppression of vibration generally have a trade-off relationship (if one is improved, the other is deteriorated).

(Other Embodiments) The present invention is not limited to the above embodiments, and may be configured as follows, for example.

(A) In the above-described embodiment, the case where PI control (proportional-integral control) is used as the target value follow-up control means 2 has been described. May be used.

In this case, since the H∞ control includes the functions of suppressing vibration and reducing high-frequency noise, the above-described noise reduction means 11 and car vibration suppression means 19 are not required.

However, the elevator characteristic change compensating means 18
Is necessary. That is, the reason is that in H∞ control,
To model the error included in the control target and pursue the target value tracking performance within the allowable range of the error,
This is because the target value following performance has to be set low when the fluctuation of the control target is large. In this regard, in an elevator, since characteristic changes due to changes in the number of passengers, changes in rope length, and the like are large, if these are not compensated, the required target value following performance cannot be obtained by H∞ control.

Therefore, as in the case of the above-described embodiment, by first compensating for the change in the characteristics of the elevator and then performing the target value tracking control using the H∞ control, it is hardly affected by the change in the characteristics of the elevator. In addition, it is possible to realize speed control excellent in vibration suppression performance.

The design based on the H∞ control can be easily performed by commercially available software (for example, MATLAB: manufactured by Cybernet System Co., Ltd.).

(B) The present invention is not limited to an inverter hydraulic elevator, and the present invention can be similarly applied to, for example, a valve opening / closing hydraulic elevator and a rope type elevator.

Further, it can be diverted to other elevating devices (stage equipment, etc.).

[0090]

As described above, the oil flow supplied to the hydraulic jack for raising and lowering the car of the elevator is
According to a first aspect of the present invention, there is provided a speed control device for a hydraulic elevator that controls the speed of a hydraulic pump driving motor, the motor speed detecting means detecting the speed of the hydraulic pump driving motor, and the elevating speed of a car. Car speed detection means, hydraulic pump drive motor speed control means for causing the speed of the hydraulic pump drive motor to follow a target value by feeding back the motor speed detection value detected by the motor speed detection means, and car speed detection means Speed conversion means for converting the elevator speed of the car detected by the car into an electric motor speed, target value tracking control means for following the car speed command by the car speed detected by the car speed detecting means, and car speed detection Based on the detected value of the elevator speed of the car detected by the means and the target value of the elevator speed of the car. A car vibration suppressing means for suppressing car vibration, wherein the car vibration suppressing means calculates a car speed converted motor speed estimated value based on a car elevating speed target value. Means, and a correction amount for suppressing the vibration of the elevator based on a deviation between the estimated car speed converted motor speed estimated value calculated by the car speed converted motor speed estimating means and the detected elevator speed of the car. High and low frequency noise reduction means to be calculated, so that the vibration of the car is suppressed and the target value tracking control is performed using the detected value of the car's ascent / descent speed. The hydraulic elevator speed control device capable of realizing the vertical speed control of the hydraulic elevator can be provided.

According to the second aspect of the present invention,
The hydraulic pump drive is performed by feeding back the motor speed detection means for detecting the speed of the electric motor, the car speed detection means for detecting the elevating speed of the car, and the motor speed detection value detected by the motor speed detection means. Hydraulic pump drive motor speed control means for causing the motor speed to follow the target value, speed conversion means for converting the ascending / descending speed of the car detected by the car speed detection means into the motor speed, and detection by the car speed detection means Based on the target value follow-up control means for causing the elevator speed of the car to follow the car speed command, based on the detected elevator speed of the car detected by the car speed detector and the target value of the elevator speed, the elevator hydraulic pressure Elevator characteristic change compensating means for compensating mechanical characteristic changes, and a car speed detected by the car speed detecting means. Based on the descending speed detection value and the elevator speed target value of the car, comprising a car vibration suppression means for suppressing the vibration of the car, the car vibration suppression means, based on the elevator speed target value of the car, Car speed conversion motor speed estimating means for calculating the car speed conversion motor speed estimation value, and car speed conversion motor speed estimation value calculated by the car speed conversion motor speed estimation means and the car elevating speed detection value And high and low frequency noise reduction means for calculating a correction amount for suppressing the vibration of the elevator based on the deviation of the elevator, so that the vibration of the car is suppressed and the elevator such as the number of passengers and oil temperature is controlled. In addition to compensating for the effects of the changes in the characteristics of the vehicle, the target value tracking control is performed using the detected value of the car's ascent and descent speed. Every lift speed control can be realized a hydraulic elevator speed controller can be provided.

[Brief description of the drawings]

FIG. 1 is a functional block diagram showing an embodiment of a hydraulic elevator speed control device according to the present invention.

FIG. 2 is a functional block diagram for explaining elevator characteristic change compensating means in the hydraulic elevator speed control device of the embodiment.

FIG. 3 is a functional block diagram for explaining vibration suppression means in the hydraulic elevator speed control device of the embodiment.

FIG. 4 is a block diagram showing a configuration example of a conventional hydraulic elevator speed control device.

FIG. 5 is a block diagram showing another configuration example of a conventional hydraulic elevator speed control device.

[Explanation of symbols]

7: pulse generator (PG), 8: elevating speed calculation circuit, 11: noise reduction means, 12: target value follow-up control means, 13: speed conversion means, 14: hydraulic pump drive motor speed control means, 15: elevator hydraulic pressure Mechanical system 16 motor speed detecting means 17 car elevating speed detecting means 18 elevator characteristic change compensating means 19 car vibration suppressing means 21 three-phase commercial power supply 22 diode converter 23 smoothing capacitor 24 inverter, 25 hydraulic pump drive motor, 26 pulse generator (VD), 27 hydraulic pump, 28 plunger, 29 cage, 30 check valve, 31 PWM control circuit, 32 speed command generation circuit , 33: speed control circuit, 34: current detector, 35: pressure sensor, 36: pressure sensor, 41: PI control 41a: current command value, 42: PI control gain table, 43: control gain throttle function, 44: starting current setting model, 45: PI output initial value setting function, 46: control target process model parameter table, K _p ... proportional gain, T _I ... integration time, alpha ... proportional gain adjustment factor, V _c ... elevator car speed, V _cfb ... elevator car speed detection value, V _cref ... elevator car speed target value, Vm ... hydraulic pump drive motor speed, Vm _fb ... hydraulic pump drive motor speed detected value, Vm _ref ... hydraulic pump drive motor speed target value, V _ce ... car speed deviation signal, V _ce1 ... after noise reduction by the car speed deviation signal 1 (noise reducing means ), V _ce2 ... correction signal by the target value follow-up control, V _CREF1 ... car speed target value (corrected by the target value follow-up controlling means) _b ... correction signal by the vibration suppression means, V _CREF2 ... car speed target value (corrected by the vibration suppression means), the correction signal by V _d ... elevator characteristic change compensating _means, V cref3 ... car speed target value (elevator characteristic change compensating means After correction).

Continuation of front page (56) References JP-A-4-153173 (JP, A) JP-A-4-277173 (JP, A) JP-A-3-120178 (JP, A) JP-A-3-79572 (JP) JP-A-3-73774 (JP, A) JP-A-4-189276 (JP, A) JP-A-4-153170 (JP, A) JP-A-7-206286 (JP, A) 7-117942 (JP, A) JP-A-8-245087 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) B66B 1/00-9/193

Claims (2)

(57) [Claims] 1. A hydraulic elevator speed control device for controlling an oil flow supplied to a hydraulic jack for raising and lowering a car of an elevator by a speed of a hydraulic pump driving motor, wherein the motor detects a speed of the hydraulic pump driving motor. Speed detection means, a car speed detection means for detecting the elevating speed of the car, and a motor speed detection value detected by the motor speed detection means, by feeding back the motor speed detection value, the speed of the hydraulic pump drive motor to a target value Hydraulic pump drive motor speed control means to be followed, speed conversion means for converting the elevation speed of the car detected by the car speed detection means to the motor speed, and the elevation speed of the car detected by the car speed detection means Target value follow-up control means for following the car speed command, and the car speed detection means Based on the detected elevator car speed detection value and the car elevator speed target value,
A car vibration suppressing means for suppressing the vibration of the car, wherein the car vibration suppressing means calculates a car speed converted motor speed estimated value based on a car elevating speed target value. A speed estimating means, and a correction for suppressing the vibration of the elevator based on a deviation between the car speed converted motor speed estimated value calculated by the car speed converted motor speed estimating means and the detected elevator speed of the car. And a high frequency noise reduction means for calculating the minute. 2. A hydraulic elevator speed control device for controlling an oil flow supplied to a hydraulic jack for raising and lowering a car of an elevator by a speed of a hydraulic pump driving motor, wherein the motor detects the speed of the hydraulic pump driving motor. Speed detection means, a car speed detection means for detecting the elevating speed of the car, and a motor speed detection value detected by the motor speed detection means, by feeding back the motor speed detection value, the speed of the hydraulic pump drive motor to a target value Hydraulic pump drive motor speed control means to be followed, speed conversion means for converting the elevation speed of the car detected by the car speed detection means to the motor speed, and the elevation speed of the car detected by the car speed detection means Target value follow-up control means for following the car speed command, and the car speed detection means Based on the detected elevator car speed detection value and the car elevator speed target value,
Elevator characteristic change compensating means for compensating for changes in the characteristics of the elevator hydraulic and mechanical systems, based on the detected elevator speed and the target elevator speed of the car detected by the car speed detecting means,
A car vibration suppressing means for suppressing the vibration of the car, wherein the car vibration suppressing means calculates a car speed converted motor speed estimated value based on a car elevating speed target value. A speed estimating means, and a correction for suppressing the vibration of the elevator based on a deviation between the car speed converted motor speed estimated value calculated by the car speed converted motor speed estimating means and the detected elevator speed value. And a high frequency noise reduction means for calculating the minute.