JP5313978B2 - Elevator control device - Google Patents

Abstract

An elevator control apparatus capable of improving movement of a cage by reducing the operation time by adjusting the maximum speed and acceleration according to the load and movement distance. In the elevator, a motor (5) supplied with power from an inverter (4) drives a traction machine (6) having a balancing weight (8) connected to a passenger cage (7) via a rope. The elevator control apparatus includes cage load detection means (2) for measuring the weight of the passenger cage (7) as a cage load, next stop floor setting means (1) for setting the next floor where the cage stops, and cage speed pattern generation means (3) which uses the cage load obtained by the cage load detection means (2) and the next stop floor set by the next stop floor setting means (1), so as to generate a cage speed pattern in which the cage (7) reaches the next stop floor in the shortest time within the allowable range of the motor (5).

Description

  The present invention relates to an elevator control device that adjusts acceleration and maximum speed by changing a speed pattern or the like applied to a motor such as an elevator according to a load.

A technique related to a conventional elevator control apparatus will be described with reference to FIG.
FIG. 15 is a diagram showing the relationship between the output frequency (speed: hereinafter frequency is the same meaning as speed) and torque of a conventional elevator control device.
In FIG. 15, f0 is the base frequency (rated speed), Tmax is the maximum output torque value, Tx is the torque value required for the first load, and Ty is required for the second load (<first load). Torque value, fx indicates the maximum output frequency that can be output by the first load, and fy indicates the maximum output frequency that can be output by the second load.

  In the frequency range of the base frequency f0 or higher, for example, the maximum output frequency for the first load (necessary torque Tx) is smaller than the torque Tx required for the first load because the torque obtained in the frequency band higher than the frequency fx is smaller. It becomes below frequency fx. Further, the maximum output frequency for the second load (necessary torque Ty) is equal to or less than the frequency fy because the torque obtained in the frequency band higher than the frequency fy is smaller than the torque Ty required for the second load.

  As described above, in order to obtain sufficient torque for various types of large and small loads, the operation frequency is set to a frequency equal to or lower than the output frequency at which torque for the maximum load can be obtained, and the motor is rotated.

  In the control device as described above, the maximum output frequency can be set high when the load is small, but if the maximum output frequency is not set low when the load is large, sufficient torque cannot be obtained and the elevator cannot be raised. Therefore, it is necessary to set the maximum output frequency to a frequency at which sufficient torque can be obtained when the load is maximum.

  That is, in the example shown in FIG. 15, the maximum output frequency is set to fx, and the maximum output frequency is fx even when the load is small. For this reason, when the load is small, the maximum output frequency is low, so that it takes time to accelerate, and the operation time cannot be shortened, resulting in poor efficiency.

  Regarding this problem, in Patent Document 1, a power value is obtained from a voltage and current at a frequency equal to or higher than the rated frequency, and compared with the power value at the rated frequency, and the speed set value is output to the variable speed device.

  Further, in the control device in Patent Document 2, in a variable speed device having an inverter unit that converts DC power into AC power of variable frequency and variable voltage, a voltage detection circuit that detects a DC bus voltage on the input side of the inverter unit; A current detection circuit that detects the current of each phase on the output side of the inverter unit, and automatically detects the magnitude of the load connected to the inverter unit using the detected DC bus voltage and the detected current of each phase, and the maximum output frequency And a control circuit for determining and outputting the output.

JP-A-3-56308 JP-A-8-107699

  In the conventional control device, the maximum speed is changed according to the load in order to shorten the operation time. However, simply increasing the maximum speed does not necessarily reduce the driving time. If the moving distance is short, it is considered that the driving time is shorter when the acceleration is increased than the maximum speed. For this reason, there is a problem that the operation time becomes longer depending on the moving distance only by changing the maximum speed according to the load.

  The present invention has been made to solve the above-described problems, and provides an elevator control device that can shorten the operation time by changing the maximum speed and acceleration according to the load and the moving distance. The purpose is to provide.

  An elevator control device according to the present invention detects a passenger car's cage load in an elevator control device provided in an elevator that drives a hoisting machine connected to a passenger car and a counterweight via a rope by a motor. Based on the car load detection means to be used and the passenger car cage load obtained by the car load detection means, the maximum car speed is set to be as large as possible within the area where the motor can be driven, and a car speed pattern is generated. And a basket speed pattern generating means.

  The elevator control apparatus according to the present invention has an effect that the traveling time of passengers is shortened and the operation efficiency of the car is increased.

It is a block diagram which shows Embodiment 1 of this invention. It is a characteristic view showing the relationship between the generated torque of a motor and the rotation speed in Embodiment 1 of this invention. It is the schematic for derivation | leading-out the mechanical system model of the elevator in Embodiment 1 of this invention. It is a figure showing the basket speed pattern and torque pattern of a motor in Embodiment 1 of this invention. It is a flowchart which shows the basket speed pattern calculation procedure in Embodiment 1 of this invention. It is the figure which showed the relationship of each parameter and the constraint conditions in the calculation of the basket speed pattern in Embodiment 1 of this invention. It is a figure which shows the example of a cage speed pattern calculation in Embodiment 1 of this invention. It is a figure for demonstrating the figure of the lower stage of FIG. FIG. 8 is a diagram illustrating a car moving distance during driving with the car speed pattern in the middle stage of FIG. 7. It is a block diagram which shows Embodiment 2 of this invention. It is a flowchart which shows the basket speed pattern calculation procedure in Embodiment 2 of this invention. It is a figure which shows the movement floor of the cage | basket in Embodiment 3 of this invention, and its generation probability. It is a flowchart which shows the simplified speed pattern calculation procedure in Embodiment 3 of this invention. It is a figure which shows the example of a calculation of the speed pattern in Embodiment 4 of this invention. It is a figure which shows the relationship between the output frequency and torque of the conventional speed change apparatus.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
Embodiment 1 FIG.
1 is a block diagram showing Embodiment 1 of the present invention.
In FIG. 1, 1 is the next stop floor setting means for setting the next stop floor, 2 is the car load detection means, 3 is the car load obtained by the car load detection means 2, and the next stop set by the next stop floor setting means 1. The car speed pattern generating means for generating a car speed pattern for the passenger car 7 to reach the next stop floor in the shortest time within the allowable driving range of the motor 5 from the floor, 4 is an inverter, 6 is a rope to the passenger car 7 It is a hoisting machine which has the counterweight 8 connected via.

  The next stop floor setting means 1 can be realized by providing a device for registering the next stop floor in the landing and the basket. It can also be set remotely by communication means such as wireless communication.

Next, the operation will be described with reference to FIGS.
FIG. 2 is a diagram illustrating characteristics of motor torque and motor rotation speed. FIG. 3 is a diagram showing the relationship among the motor 5, the hoisting machine 6, the basket 7, and the counterweight 8. The lower part of FIG. 4 represents the motor torque pattern, and the upper part represents the cage speed pattern at that time. FIG. 5 is a flowchart showing a processing procedure for generating a basket speed pattern.

  In FIG. 2, the motor 5 can operate in the region including the region of the shaded portion surrounded by the motor torque axis and the curve and the region including the boundary. This region may be a convex set, but otherwise the motion region may be approximated to be a convex set. A region where the torque is positive represents a power running state, and a negative region represents a regenerative state. This region is represented by Ω.

  In FIG. 3, Tm is the motor torque, J is the moment of inertia of the hoisting machine, r is the hoisting machine radius, m1 is the counterweight mass, m2 is the cargo mass, α is the car acceleration, and ω is the hoisting machine rotation speed. Represent each. Further, g is a gravitational acceleration. By deriving an equation of motion for the configuration shown in the figure, a relational expression between the car acceleration and the motor torque can be obtained as follows.

  In the configuration of FIG. 3, the relational expression between the car acceleration and the motor torque is expressed as Expression (1). However, the configuration is not limited to this configuration as long as the relation between the two can be described by a linear function. Also good. Next, assuming that the rotational speed of the motor is equal to the rotational speed of the hoisting machine and v is the basket speed, the basket speed can be calculated from the rotational speed of the motor as follows.

  v = rω (2)

Therefore, FIG. 2 can be converted into a relational expression between the motor torque and the cage speed.
In addition, although the rotation speed of the motor and the hoisting machine rotation speed are assumed to be equal, the above-described expression (2) is not necessarily limited as long as the relational expression between them can be described by a linear function. For example, the present invention can also be applied when a reduction gear or the like is used.

In FIG. 4, the upper speed pattern is calculated from the above equation (1) and its integral value with respect to the lower torque pattern. In FIG. 4, t0 to t7 are times, Δt1 to Δt7 are time intervals, v0 to v7 are basket speeds for each time, and Tm0 to Tm7 are motor torques for each time. Here is a _{Tm0 = Tm3 = Tm4 = Tm7 =} T M0, Tm1 = Tm2 = T M1, Tm5 = Tm6 = T M2. Further, it is assumed that v0 = 0 and t0 = 0.

In FIG. 4, sections Δt1, Δt3, Δt5, and Δt7 are travels with a constant jerk (car acceleration change rate) value, sections Δt2 and Δt6 are travels with constant acceleration, and section Δt4 is a travel section with constant speed. Further, the balancing torque T _M0 can be calculated as the following formula (3) by substituting α = 0 into the above formula (1).

T _M0 = −r (m1−m2) g / 2 (3)

In FIG. 6, Δl 1 to Δl 7 are the amounts of movement of the cage between the sections Δt 1 to Δt 7, respectively. α1 and α2 are the absolute values of the basket acceleration in the sections Δt2 and Δt6, respectively, and can be calculated as shown in the figure using the above formula (1) and T _M1 and T _M2 . Β1 to β4 are the absolute values of the jerks in the sections Δt1, Δt3, Δt5, and Δt7, and can be calculated as shown in the figure by using α1, α2 and Δt1, Δt3, Δt5, Δt7 calculated above. The speeds v0 to v7 can be calculated as shown in the figure using α1, α2, β1 to β4 and Δt1 to Δt7 calculated above.

Δl1 to Δl7 can be calculated as shown in the figure using v0 to v7, α1, α2, β1 to β4, and Δt1 to Δt7 calculated above. Therefore, Δl1 to Δl7 can be described using the time intervals Δt1 to Δt7 and the motor torques T _M1 and T _M2 as parameters. When the moving distance of the cage is L, L = Δl1 + Δl2 + Δl3 + Δl4 + Δl5 + Δl6 + Δl7.

  The calculation method of the shortest time speed pattern in the first embodiment will be described with reference to FIGS. In FIG. 5, in the next stop floor setting process at step 21, the moving distance L of the car is set based on the next stop floor set by the next stop floor setting means 1.

Next, in the parameter reading process at step 22, the values of the weight m1 of the counterweight 8, the radius r of the hoisting machine 6, the inertia moment J of the hoisting machine 6, and the gravitational acceleration g are read.
Next, in the car load detection process in step 23, the car weight m 2 is detected by the car load detection means 2.

  Next, in the constraint condition setting process of step 24, the constraint conditions in FIG. 6 are set, and the upper limit value of the maximum basket speed, the upper limit value of the basket acceleration, and the upper limit value of the basket jerk are determined. That is, v-, α1-, α2-, β1-, β12-, β3-, β4- are designated in the constraint equation represented by the following equation (4) (here, each symbol is attached). -Represents that a bar is attached to the upper part of each symbol for the sake of convenience, as can be seen from the following equation (4)).

Next, in the optimization problem solution processing in step 25, optimization that minimizes the objective function T (operation time) defined by the following equation (5) under the above equation (4) that is a constraint condition. Solve the problem. This problem is a nonlinear programming problem with Δt1 to Δt7, T _M1 , and T _M2 as parameters, and can be solved numerically.

  T = Δt1 + Δt2 + Δt3 + Δt4 + Δt5 + Δt6 + Δt7 (5)

Next, in the speed pattern generation process in step 26, the following equation (6) is used by using Δt1 to Δt7, T _M1 and T _M2 obtained in the optimization problem solving process in step 25 and v1 to v6 in FIG. A speed pattern v is generated as follows.

However, t1 = Δ, t2 = t1 + Δt2, t3 = t2 + Δt3, t4 = t3 + Δt4, t5 = t4 + Δt5, t6 = t5 + Δt6, t7 = t6 + Δt7.
According to the above procedure, the basket speed pattern that reaches the earliest within the constraint condition according to the load is generated.
The restriction on the car speed has an effect of adjusting the maximum speed of the elevator, and the car speed can be kept within a desired range, so that the speed can be prevented from being excessively increased. On the other hand, by specifying v− to be larger than the cage speed derived from the maximum rotational speed of the motor according to the above equation (2), the basket that reaches the earliest within the range of the motor characteristics without limiting the maximum cage speed. A velocity pattern can be generated.

  In the constraints on the car acceleration, setting the upper limit value small has the effect of improving the riding comfort of the elevator. Moreover, since the generated torque of the motor is suppressed, excessive operation of the motor and the inverter can be avoided, and energy saving can be realized. Furthermore, there is an effect of reducing the heat generation of the motor and the inverter. The restriction on jerk brings about the effect of improving the ride quality of the elevator by reducing the upper limit value and extending the maximum speed when operating in the speed pattern of FIG. Further, when passengers are not riding, the operation efficiency of the car can be increased by increasing the upper limits of the car acceleration restriction and the jerk restriction. In addition, when the moving distance is short, it may be reached faster when the upper limit value of the basket acceleration and jerk is set larger than when the upper limit value of the maximum basket speed is set larger.

The torque constraint condition has an effect of keeping the speed pattern and torque pattern of FIG. 4 within the operation range of the motor. For example, if the boundary portion of Ω is approximated by a combination of straight lines, the torque constraint condition becomes a simultaneous inequality condition and is easy to solve.
By selecting the torque pattern as shown in FIG. 4, the torque pattern in all time intervals can be kept within the operating range of the motor only by adding Tm1 to Tm7 as torque constraint conditions. Thereby, the amount of calculation can be reduced.

  In FIG. 4, the time interval is divided into Δt1 to Δt7, and the torque pattern is set as shown in FIG. 4, but the torque pattern from the beginning of acceleration to the maximum speed is a convex function in each time interval. If the torque pattern from the beginning of deceleration to the deceleration stop is selected as a concave function in each time interval, the torque constraint condition can be evaluated only by the torque constraint at the end point of the time interval as described above.

  Further, even when the number of divisions in the time section is changed, the torque pattern in the entire section falls within the motor operation range if the torque restriction at the end point of the time section is satisfied if the speed pattern is as described above. At this time, the basket speed can be obtained by converting the torque pattern into the basket acceleration pattern and then integrating it. The travel distance can be obtained by integrating the basket speed pattern. The basket acceleration constraint and the jerk constraint can be formulated as an optimization problem in the same manner as described above by using a method of limiting each maximum value in each time interval. At this time, by making the torque pattern smooth or increasing the number of time sections, a smoother speed pattern can be generated, and riding comfort is improved.

In the formulation and solution of the optimization problem, the unknown variable is set to the torque and the time interval. However, if the combination of variables is such that the speed pattern is uniquely determined, the same effect as described above can be obtained even if another combination is selected. . For example, even if an unknown variable is selected as an acceleration and a time interval, it can be formulated as an optimization problem. At this time, the constraint equation is equivalent to that described above. The objective function is not changed.
In addition, the same idea as described above can be applied to formulate the optimization problem for reaching the shortest time even when the cage descends.

  For a plurality of basket loads and constraint conditions, a speed pattern calculated by the optimization problem solving process in step 25, a speed pattern calculated by the speed pattern generation process in step 26, or data corresponding thereto is calculated in advance and the speed pattern generating means 3 The same effect as described above can also be realized by storing the data in a memory in the memory provided in FIG. At this time, since the calculation by the optimization problem solving process of step 25 is not required, it can be realized by a cheaper calculation device.

A speed pattern determined according to the procedure described above will be described with reference to FIG.
In FIG. 7, the upper stage, the middle stage, and the lower stage are a motor torque pattern and a car speed pattern, respectively, and a diagram (torque constraint line) obtained by converting FIG. 2 into the motor torque and the car speed by the above equation (2). The middle basket speed pattern is obtained by the upper motor torque pattern. In addition, a curve indicated by a hexagon in the lower torque characteristic diagram of FIG. 7 represents a motor driving locus with respect to the upper motor torque pattern and the middle basket speed pattern. Although these three patterns are shown, the ratio of the car weight m2 and the weight m1 of the counterweight is changed, and the speed pattern is obtained according to the present embodiment.

  At this time, the maximum basket speed, jerk, and acceleration were set to certain upper limit values (same for all three patterns) in all patterns. Of these, the upper limit value of the maximum basket speed is set to be as large as possible within the region where the motor can be driven by setting the upper limit value higher than the rotation speed at which the motor can output. Also, the movement distance is the same for all patterns. When the torque pattern (speed pattern) having the shape shown in FIG. 4 is given, the driving locus of the motor is a hexagon as shown in the lower part of FIG. It will be described with reference to FIG. 8 that these speed patterns satisfy the above formula (4), which is a constraint condition.

FIG. 8 is a diagram for explaining the motor drive locus in the lower part of FIG.
The motor drive trajectory moves on the hexagonal side with time as shown in the figure. The symbols in the figure correspond to those in FIG. Therefore, the maximum basket speed is the speed on the point of v3 or v4. Regarding the car acceleration, the amount indicated by the arrow in the figure is proportional to the absolute value of the car acceleration. Further, with respect to the basket jerk, the absolute value of the side inclination shown in the figure is inversely proportional to the jerk time (acceleration / jerk). In the lower part of FIG. 7, since all the motor driving trajectories are present in the motor torque restriction region, it can be seen that the speed pattern is generated in the region where the motor can be driven. Furthermore, since it exists on the boundary of a motor torque restriction area | region by v3 or v4, it turns out that the pattern which produces the highest possible speed is produced | generated.

  With respect to the basket acceleration and the basket jerk, it can be seen that all the speed patterns in the middle stage of FIG. 7 have the same gradient at the time of acceleration and the same shape of the acceleration rounding, and thus are restricted to the set upper limit value. FIG. 9 shows a graph (cage moving distance) obtained by integrating the speed pattern in the middle of FIG. From this figure, it can be seen that the movement distance is the specified value for all patterns. From the above, it can be seen that, while satisfying the constraint equation of the above formula (4), the speed pattern that the acceleration and jerk fall within the upper limit value and reaches the earliest is generated according to the car load.

Embodiment 2. FIG.
The invention described below in the present embodiment can be added to any method described in the first embodiment.
FIG. 10 is a block diagram showing Embodiment 2 of the present invention.
In the present embodiment, electronic component temperature detection means 11, limit temperature setting means 12, and temperature rise allowable value calculation means 13 as component temperature detection means are newly added to the configuration of FIG. 1 described in the first embodiment. It is provided.

  In FIG. 10, an electronic component temperature detecting means 11 is for detecting the temperature of an electronic device such as an inverter or an electronic component constituting the electronic device, and includes a temperature sensor such as a thermistor. The limit temperature setting means 12 is for setting an upper limit value or a lower limit value of a temperature that guarantees that the above-described electronic device operates normally. The temperature rise allowable value calculating means 13 is for calculating the temperature margin of the electronic device by comparing the temperature detected by the electronic component temperature detecting means 11 with the temperature set by the limit temperature setting means 12. .

Next, the calculation method of the shortest time speed pattern in the present embodiment will be described using the flowchart of FIG.
In FIG. 11, the same reference numerals as those in FIG. 5 perform the same processing as in FIG. 5 described in the first embodiment. The calculation method of the shortest time speed pattern in the second embodiment takes into account the temperature rise amount of the electronic device as a constraint condition of the calculation method of the first embodiment, and has an effect of preventing the electronic device from being destroyed by heat. . The second embodiment will be described by taking the temperature rise amount of the inverter element as an example.

The convergence value (represented by W) of the temperature rise amount of the inverter is proportional to the time average value (represented by Is) obtained by dividing the time integral value of the absolute value amount of the current pattern flowing through the inverter before convergence by the convergence time.
That is, when k is a proportional constant, the following equation (7) is established.

  W = kIs (7)

  Moreover, k can be known by conducting an experiment or the like in advance. Here, the above formula (7) is obtained by dividing the time integral value of the absolute value amount of the current pattern (represented by ia) flowing through the inverter in a certain time interval (represented by Tint) including one raising and lowering of the cage by Tint. If the elevator is continuously driven under the constraint that the time average value (represented by Iint) is equal to or lower than Is, it means that the temperature rise can be suppressed to W or lower. Iint is expressed by the following formula (8) (for simplicity of explanation, the integration start time is set to 0).

  Here, the current value of the inverter is calculated from the torque command value of the motor and the rotational speed of the motor.

Next, a speed pattern calculation method will be described.
As described in the first embodiment, α1, α2, β1 to β4, v0 to v7, and the moving distance L can be expressed using the time intervals Δt1 to Δt7 and the motor torques T _M1 and T _M2 as parameters, and are used to represent them. The upper 4 speed pattern v is expressed by the above equation (6). Further, the torque pattern Tm at that time is also expressed by using Δt1 to Δt7 and motor torques T _M1 and T _M2 as parameters from the lower diagram of FIG. At this time, since the current pattern ia flowing through the inverter can be expressed as a function of these v and Tm, it can be seen that Δt1 to Δt7, T _M1 and T _M2 can be expressed as parameters.

In FIG. 11, the processes performed in the next stop floor setting process in step 21, the parameter reading process in step 22, the car load detection process in step 23, and the speed pattern generation process in step 26 are as described in the first embodiment. Therefore, the description thereof is omitted.
Next, in the temperature allowable value calculation process of step 31, the temperature margin of the inverter is calculated by the temperature increase allowable value calculation means 13 in FIG. 10, and the inverter temperature detected by the electronic component temperature detection means 11 and the limit temperature setting means 12. Calculation is performed by taking the difference from the preset limit temperature of the inverter. The temperature margin calculated in step 31 is represented by W−.

Next, in the constraint condition setting process of step 32, as in the first embodiment, v−, α1-, α2-, β1-, β2-, β3 corresponding to the constraint condition represented by the above formula (4). -, Β4- and time interval Tint are specified.
Next, in the optimization problem solving process in step 33, the optimization problem described in the first embodiment is solved by adding the following expression (9) to the expression (4), which is a constraint condition expression. The objective function is the same as that in the above equation (5). Expression (9) is a constraint condition expression regarding the temperature rise amount of the inverter element, and the temperature rise amount can be suppressed to W- or less, and as a result, there is an effect of preventing destruction of the inverter due to heat.

  In this embodiment, the optimization problem is solved after the time interval Tint is specified in the constraint condition setting process in step 32. However, the optimization problem can be solved as a function of Δt1 to Δt7 without specifying this. For example, if the objective function T and an appropriate value Ts are used and Tint = T + Ts, the amount of temperature rise when the elevator is started at every time interval Ts can be restricted to a certain value or less. Thereby, the operation pattern with respect to various passenger generation patterns can be considered.

  In addition, when the flux weakening control is not performed in the synchronous motor, the inverter current and the motor torque are proportional. Therefore, even if the temperature rise amount is restricted by a function using the torque value instead of the current value, the same as in the present embodiment The effect is obtained. Further, since the torque value and the basket acceleration are proportional, the same effect as in the present embodiment can be obtained even if the temperature rise amount is restricted by a function using the basket acceleration.

Also, since the integrated value of the car acceleration is the car speed, the integrated value of the absolute value of the car acceleration is twice the maximum car speed when the car is accelerated and decelerated. The same effect as this embodiment can be obtained by measuring the temperature rise amount.
Further, if the amount of temperature rise of the electronic device is expressed as a function of the current value flowing through the electronic device, the same formulation as in the present embodiment is possible and the same effect can be obtained.

Embodiment 3 FIG.
The invention described below in this embodiment can be added to any method described in the first and second embodiments.
The configuration of the present embodiment is substantially the same as the configuration of FIG. 1 described in the first embodiment or FIG. 10 of the above embodiment, but as will be described later, the next stop is set for the next stop floor. The function of the floor setting means 1 is different from that in FIGS. Moreover, the speed pattern generation means 3 functions as an arithmetic processing device.

Next, the operation will be described with reference to FIG.
The calculation process in each processing procedure is performed in the same procedure as in the first and second embodiments. However, the next stop floor setting method in step 21 in which the next stop floor setting means 1 performs the next stop floor setting process is described in the above embodiment. 1 and 2 are different. In this process, the average stop floor of the basket in a certain time section is set as the next stop floor. A specific method for calculating the average stop floor will be described later.

  In FIG. 5, the procedure from step 21 for performing parameter reading processing to step 26 for performing speed pattern generation processing is the same as in the first and second embodiments. In these arithmetic processes, as in the first and second embodiments, the maximum speed, acceleration, and jerk are obtained by solving the optimization problem that minimizes the arrival time within the motor drive region shown in FIG. Using these, the speed pattern shown in FIG. 4 is calculated.

Now, in the present embodiment, step 21 for performing the next stop floor setting process is different from the first and second embodiments described above, in that an average stop floor of the basket is set. An example of a method for determining the average stop floor is as follows.
An example of a method for determining the average stop floor will be described with reference to FIG. FIG. 12 is a graph showing the moving floor of the cage from the departure floor to the stop determination floor within a certain time section and the probability of occurrence when there are at most n stop floors in the hoistway.

  Here, the probability that the movement of the k-th floor will occur is X (k), and the movement distance of the k-th floor is L (k). The average stop floor is appropriately set using these statistics so that the average travel time of the basket is reduced. As an example of the setting example, the average stop floor of the basket can be set as the following formula (10) or the like obtained by converting the expected value of the moving floor into a distance.

Further, the statistics of FIG. 12 may be provided for each departure floor, and the average stop floor may be set for each departure floor as described above.
As a result, the operation time can be shortened compared to the conventional method when the next stop floor is changed to call the car after the start of the movement of the car after the next stop floor is set above the average stop floor.

In addition, since the next stop floor is fixed to one value for each departure floor or one departure floor, it is not necessary to calculate the next stop floor each time the elevator is started, and it is only necessary to read it as a parameter. Thereby, the calculation procedure of the control device can be simplified as shown in FIG. 13, and the calculation amount can be reduced.
Furthermore, when the speed pattern is obtained in advance according to each situation by the above method and stored in a storage device such as a memory and read out, the storage capacity is smaller than when using the conventional method. I'm sorry. As a result, the control device can be made cheaper.

Embodiment 4 FIG.
In the present embodiment, in the procedure for setting the average stop floor in the above-described third embodiment, the expected value of the travel time to the stop determination floor in each departure floor of the basket is set in the following procedures (A) to (C). The calculation procedure of the average stop floor to be minimized is shown. It is assumed that the movement distance of the basket to each floor and the frequency of occurrence have the statistical data of FIG.

  Procedure (b): Set each of L (k), k = 1, ..., n to the next stop floor, and solve the optimization problem in the procedure of FIG. Acceleration, jerk). At this time, the value of the cage load necessary for solving the optimization problem is appropriately set. For example, it is possible to use an average value when the k-th floor is moved or an average value of the whole (when all floors are moved) using a statistic of the basket load applied to the car at the time of activation. As a result, a set of n (maximum basket speed, basket acceleration, jerk) is obtained. A set of (cage maximum speed, basket acceleration, jerk) corresponding to L (k) is set to V (k).

  Procedure (b): When V (j) is used, the expected value T (V (j)) of the moving time of the cage for the distribution of FIG. 12 is calculated. This can be obtained by the following equation. However, TL (V (j), L (k)) represents the time required to move L (k) when V (j) is used.

Procedure (c): L (j is determined as an average stop floor) using j that minimizes T (V (j)) in the above formula (11).
12 is replaced with a continuous probability density function X (k), 0 ≦ k ≦ n, the same as described above. Discuss.
The effect in this Embodiment is demonstrated using FIG.
The curves in the figure show the car speed pattern when the car call is entered in the middle of the elevator speed pattern generated using the first embodiment and the fourth embodiment, and the car stops on the middle floor. Show. A and B in the figure represent the basket speed patterns calculated using the fourth embodiment and the first and second embodiments, respectively.

  In FIG. 14, in the first and second embodiments, the next stop floor larger than the average stop floor is set, and the speed pattern is calculated accordingly. In Embodiments 1 and 2 shown in B, the car acceleration is reduced in order to increase the upper limit of the maximum car speed, but since a car call has been entered midway, the car is decelerated without being able to increase to the car maximum speed. It shows a state. When the fourth embodiment is used, the next stop floor is set as the average stop floor, so the difference between the next stop floor and the stop determination floor is smaller than in the first and second embodiments.

  As a result, it is possible to reach the maximum speed at a higher acceleration than in the first and second embodiments, so that the stop determination floor is reached earlier than in the first and second embodiments. On the other hand, the operation time when the car call is not entered in the middle or when the next stop floor below the average stop floor is set by the passenger is shorter when the first and second embodiments are used. In the present embodiment, the speed pattern is obtained using the average stop floor that minimizes the expected value of the car movement time using the movement amount of the cage, the activation frequency for each stop determination floor, and the statistics of the car load. Therefore, the travel time of passengers can be shortened on average.

  Furthermore, depending on the probability distribution of the stop decision floor, the total operation time shortened compared to the first and second embodiments may be larger than the total operation time increase. However, there is an effect that the operation efficiency is improved. In addition, since the average stop floor is used as the next stop floor, there is no extreme change in the travel distance due to the cage call after the start of movement, as compared with the first and second embodiments. That is, the frequency with which the operation pattern with low acceleration, low jerk and high maximum speed set for the long moving distance is applied to the short moving distance is reduced. Thereby, the dispersion | variation in the arrival time with respect to the same movement distance decreases, and the passenger's discomfort by this can be reduced.

Embodiment 5 FIG.
In the present embodiment, a plurality of the statistics of FIG. 12 used in the procedure for setting the average stop floor described in the third and fourth embodiments are prepared for each time zone in which passenger demand such as commuting or leaving work is different. And the average stop floor for every time zone is calculated | required by the said method etc. using them. Then, the average stop floor is switched for each corresponding time zone and set as an average stop floor, and a basket speed pattern is calculated.

  As a result, the statistics used to determine the average stop floor more accurately reflect actual passenger demand. Therefore, since the set average stop floor is closer to the actual average stop floor, further improvement in operation efficiency can be realized.

Embodiment 6 FIG.
In the present embodiment, as the next stop floor, the moving distance of the cage with respect to the average stop floor is compared with the moving distance of the next stop floor set by the passenger before the cage moves, and according to the situation of the section through which the car passes. Set the next stop floor and calculate the basket speed pattern.
In this way, when the next stop floor is set as an average stop floor and the basket speed pattern is calculated, the basket speed pattern obtained by setting the next stop floor as an average stop floor is used. Can prevent the arrival at the stop decision floor from being delayed. For example, the following cases correspond to this.

  If the next stop floor set by the passenger before the car moves is smaller than the average stop floor, the next stop floor is set as the next stop floor set by the passenger before the car moves. In this case, the next stop floor is set as the average stop floor.

Thus, by calculating the basket speed pattern using the average stop floor, the case where the traveling time is surely delayed can be eliminated, and the operation efficiency is further improved. The reason for this will be described below.
First, regarding the operation time, the acceleration and the jerk are reached faster as the travel distance becomes shorter than when the maximum speed is increased. This is because when the moving distance of the basket is short, the time for operating at the maximum speed is relatively shorter than the acceleration time and the jerk time. Further, when the car travels with a basket speed pattern as shown in FIG. 4, the operation locus of the motor is as shown in FIG. Therefore, in order to produce high acceleration and high jerk, the motor is required to have high torque, but it can be seen from FIG. 2 that the maximum speed cannot be increased as the torque increases.

  From the above, when finding the car speed pattern by solving the optimization problem, a solution with high acceleration, high jerk, and low maximum speed is obtained when taking the car travel distance smaller than when taking the car moving distance large. . If the next stop floor matches the stop decision floor, the car will reach the stop decision floor in the shortest time, so if the moving distance of the basket is less than or equal to the average stop floor, the next stop floor will be the average stop floor. If a car call is not entered during operation, the operation time will always increase.

  In addition, since the travel distance is shortened when a basket call is entered, the above reasons (if the next stop floor is set shorter, the solution of low maximum speed, high acceleration, high jerk is obtained, and the travel distance is As the speed becomes shorter, it is faster to increase the acceleration and the jerk than to increase the maximum speed. Therefore, it is faster to obtain the basket speed pattern without setting the next stop floor as the average stop floor. As a result, when the distance traveled by the next stop floor set before moving the basket is smaller than the average stop floor, it is faster to reset the next stop floor as the stop floor set before moving the basket. As a result, the operation efficiency is improved.

Embodiment 7 FIG.
In this embodiment, the average stop floor is compared with the stoppable floor, and when the average stop floor is set in the express zone when there is an express zone in the ascending / descending stroke, the next stop floor is reset and the basket is reset. Calculate the speed pattern. For example, the setting is as follows. If the next stop floor, which is a stoppable floor set by the passenger before the car moves, passes through the express zone, and the travel distance to it is equal to or greater than the travel distance of the average stop floor, the next stop floor Set to the last floor of the express zone section.

  As a result, when the car passes through the express zone section and moves a moving distance longer than the average stop floor, the stop determination floor is calculated because the average stop floor is set as the next stop floor and the cage speed pattern is calculated. Can be prevented from slowing down, and increase in operation time can be suppressed. The reason for this is the same as described above. In other words, when the next stop floor is set longer, a solution for high maximum speed, low acceleration, and low jerk is obtained, and it is faster to increase the maximum speed than to increase acceleration and jerk as the moving distance increases. By doing.

  Not only when there is an express zone, but also when the stop decision floor has been decided in advance before the start of movement and there is no change, the next stop floor will be the stop decision floor, and the next stop floor will be the average stop floor. It is possible to prevent the arrival from being slowed by using the basket speed pattern obtained by setting.

  1 Next stop floor setting means, 2 basket load detection means, 3 basket speed pattern generation means, 4 inverter, 5 motor, 6 hoist, 7 basket, 8 counterweight, 11 electronic component temperature detection means, 12 limit temperature setting Means, 13 Temperature rise allowable value calculation means.

Claims (3)

In an elevator control device provided in an elevator that drives a hoisting machine connected to a passenger car and a counterweight via a rope by a motor,
A car load detecting means for detecting a car load of the passenger car;
Based on the car load of the passenger car obtained by the above car load detecting means, above SL motor drivable region can be greatly increased as car acceleration as possible car maximum speed, the jerk and the car maximum speed An elevator control device comprising: a car speed pattern generating means for generating a determined car speed pattern.   2. The elevator according to claim 1, wherein the basket speed pattern generation means stores data corresponding to the basket speed pattern in a table with respect to a basket load of the passenger basket, and reads and uses the data. Control device.   The basket speed pattern generation means can take the maximum car speed as large as possible within the area where the motor can be driven based on the car load of the passenger car and the travel distance of the passenger car to the next stop floor. 3. The elevator control device according to claim 1, wherein the cage acceleration is set so that the torque pattern of the motor falls within an operation range of the motor.

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