JP5927838B2 - Speed control device - Google Patents

Description

  The present invention relates to a speed control device that controls a motor to move a moving body such as an elevator and a traverse device including an elevator to a predetermined position.

  Hereinafter, an elevator will be described as an example of the moving device that moves the position of the moving body. In general elevator stop control, when the elevator car approaches the landing position, the elevator car decelerates to a very slow creep speed, moves at a creep speed for a certain time, and then decelerates and stops at a desired landing position. In such stop control, in order to improve the positioning accuracy at the target landing position, a so-called creep operation is performed in which operation is performed at a creep speed for a predetermined time before stopping. Since this creep operation is performed at a creep speed of a slight speed for a certain period of time before the landing position, there is a problem that the time until stoppage becomes longer and the operation efficiency of the elevator becomes worse. Therefore, in recent years, elevator stop control is also performed by creep press operation in which creep operation is omitted (see, for example, Patent Document 1).

FIG. 3 is a configuration diagram of a conventional elevator speed control apparatus that performs creep press operation.
In FIG. 3, 1 is a motor such as an induction motor or a synchronous motor, 2 is a brake, 3 is a speed reducer, 4 is a sheave driven by the motor 1, 5 is a baffle provided near the sheave 4, and 6 is a sheave 4 A rope wound around the baffle 5, 7 is a cage (moving body) coupled to one end of the rope 6, and 8 is a counterweight coupled to the other end of the rope 6. 1 is transmitted to the sheave 4 via the speed reducer 3, and the car 7 and the counterweight 8 coupled to the rope 6 wound around the sheave 4 are moved up and down.

11 is a position detector that detects a deceleration start position A and generates a deceleration start signal S _A , 12 is a position detector that detects a creep press operation start position B and generates a creep press operation start signal S _B , and 13 is an arrival This is the arrival floor at floor position C. Reference numeral 15 denotes a power converter such as an inverter for controlling the speed of the motor 1, which is composed of a DC power source such as a rectifying power source and an inverse conversion circuit formed by connecting a semiconductor switch element and a diode in parallel to each other in a three-phase bridge. Yes. Reference numeral 16 denotes a motor speed detector such as a rotary encoder that detects the rotational speed N of the motor 1.

21 is a setter, a motor speed setting value N ₀ ^*, acceleration time to reach the up speed setpoint N ₀ ^* zero, deceleration time to reach the speed setting value N ₀ ^* to zero, the acceleration and deceleration start and acceleration Each set value such as an S-shaped range for setting a period for reducing the shock when zero is set at a rate of acceleration / deceleration time, an elevator rated speed V _n and a motor rated speed N _n is set. A jerk command generator 22 calculates and outputs a jerk command j ^* based on each set value set by the setting device 21, and 23 calculates an acceleration command α ^* based on the jerk command j ^*. An output acceleration command generator 24 is a speed command generator 24 that calculates and outputs a speed command N ^* based on the acceleration command α ^* , and 25 adjusts and calculates a deviation between the speed command N ^* and the speed detection value N. A speed controller that performs a vector operation based on the torque command value obtained in this way and the magnetic flux command value obtained by calculating from the speed detection value N and outputs a command signal to the power converter 15; moving distance setter that sets a movement distance L ^* from B to landing position C, the Cree press for calculating the acceleration command and jerk instruction at Cree press operation based on the input of Cree press operation start signal S _B 27 Operation calculation It is.

The elevator stop control operation will be described below with reference to a time chart showing the operation at the time of deceleration in FIG.
First, when the position detector 11 detects that the car 7 has reached the deceleration start position A at the time t _Ah in the state of the constant speed N _h , a deceleration start signal S _A is issued. In response to this deceleration start signal S _A , the motor 1 starts decelerating according to the deceleration time and S-shaped range set by the setting device 21. Then emitting Cree press operation start signal S _B the time t _Bh Dekago 7 during deceleration is detected by the position detector 12 that it has reached the Cree press operation start position B. In the creep press operation computing unit 27, when the speed command N ^* becomes zero from the motor speed command value N ^* at time t _Bh and the movement distance L ^* preset by the movement distance setting unit 26, the movement distance L ^* The acceleration command initial value α (0) and jerk command j are calculated. Then, the acceleration command α ^* output from the acceleration command generator 23 is rewritten to the acceleration command α (0) calculated by the creep press operation calculator 27. Thereafter, the speed command N ^* is calculated every moment according to the acceleration command α (0) and jerk command j calculated by the creep press operation calculator 27, and the speed command N ^* becomes zero at time t _Ch. Stops at the desired landing position C.

The creep press operation will be described in detail. _Assuming that the creep press operation start position B is reached at time t _Bh and the creep press operation start signal S _B is input, the motor speed N (t), acceleration command α (t), jerk command j at time t The following equation holds. Here, the motor speed command at time t _Bh when the creep press operation is started is N (0).

When arrival at the landing position C at time t _Ch and the speed reaches zero, the time from time t _Bh to time t _Ch is t ₁ (= t _Ch −t _Bh ), and time t ₁ has elapsed. If the speed becomes zero, if the acceleration is zero at the time t ₁ elapses, it can be smoothly stopped without a shock. Therefore, jerk j is expressed by Equation 3 from Equation 2.

Substituting Equation 2 and Equation 3 into Equation 1 yields Equation 4, and rearranging Equation 4 from N (t ₁ ) = 0 yields Equation 5.

On the other hand, _if the coefficient ratio between the elevator rated speed (moving body rated speed) V _n and the motor rated speed N _{n at} that time is γ (= V _n / N _n ), the car 7 moves during time t _1. The distance L is given by the following equation (6).

In the creep press operation, since the movement distance L ^* from the creep press operation start position B to the landing position C is set in advance by the movement distance setting unit 26, Equations 6 to 7 are obtained.

  From Equation 3, Equation 5, and Equation 7, the acceleration α (0) and jerk j are Equation 8 and Equation 9, respectively.

The creep press operation calculator 27 calculates the initial acceleration α (0) and jerk j at the start of the creep press operation using the above equations 8 and 9, and the acceleration command α output from the acceleration command generator 23. Rewrite ^* . The speed command generator 24 outputs the speed command value N ^* obtained every moment based on the acceleration α (0), so that the speed command value N ^* also becomes zero at time t _Ch and a desired landing is achieved. At position C, the car 7 stops.

Japanese Patent Laid-Open No. 11-191999

In the above Cree press operation, the car 7 is detected by the position detector 12 that has passed the start point B of Cree press operation emits Cree press operation start signal S _B in, but the signal from the position detector 12 If there is a time delay, an error occurs in the landing position C of the car 7 due to the time delay of the control system. In particular, in an elevator system that switches the elevator operation speed in accordance with the number of landings that move, the above error cannot be eliminated.

The reason why the error occurs will be described below.
Figure 4 is a time chart showing the operation of the deceleration, (a) represents and shows the deceleration stop operation during high speed operation for decelerating the motor speed N _h, (b) the motor speed N _l (N _{l This} shows the deceleration stop operation during low-speed operation that decelerates from < _Nh ). FIG. 5 is an enlarged time chart of a part of FIG. 4. Similarly, (a) shows a deceleration stop operation at high speed operation, and (b) shows a deceleration stop operation at low speed operation. It is shown.

  The distance from the deceleration start position A to the landing position C is the same regardless of the speed during the high speed operation of FIG. 4A and the low speed operation of FIG. 4B, and this moving distance is obtained by integrating the speed. Therefore, when decelerating from low speed operation, the time chart is such that the deceleration time becomes longer than the deceleration time during high speed operation.

Further, since the distance from the creep press operation start position B to the landing position C is the same regardless of the speed, the deceleration time from the creep press operation start position B to the landing position C is the time t _h during high speed operation. and during low-speed operation is the time t _l becomes a relationship of t _h <t _l, more of the time t _l at the time of low-speed operation is longer than the time t _h at the time of high-speed operation. On the other hand, the motor speed N when the Cree press operation start signal S _B is inputted, the motor speed N _{h (0)} at the time of high-speed operation, the motor speed during low speed operation is to N _{l (0)} N _{h ( 0)} > N _{l (0)} .

4 (a) and 4 (b) indicate the respective moving distances. If there is no control delay in the signal of the position detector 12, the area L _h shown in FIG. The area L _l shown in FIG. 4B is the same area.

However, if there is a control delay in the signal of the position detector 12, a delay time t _delay occurs, and the car 7 moves during the delay time t _delay as shown in FIG. The distance traveled during this delay time t _delay is expressed by _Equations 10 and 11, respectively, where L _{dh is} the travel distance during high speed operation and L _dl is the travel distance during low speed operation.

As described above, an L _dh landing position error occurs during high-speed operation, and an L _dl landing position error occurs during low-speed operation. Therefore, the stop position of the car 7 from the original landing position C to the amount corresponding to this error. It will shift. Here, the relationship of the moving distance between the high speed operation and the low speed operation is L _dh > L _dl , and the landing position error of (L _dh −L _dl ) is also between the high speed operation and the low speed operation. The landing position error varies depending on the driving speed.

  The present invention provides a speed control device that eliminates the influence of landing position error caused by time delay of the control system and is improved in positioning accuracy at a desired landing position without being influenced by the operating speed of the moving body. The purpose is to do.

In order to achieve the above object, the present invention calculates a speed command from an acceleration command, performs speed control of the motor based on the speed command, and controls the motor to move the moving body to a predetermined position. In the apparatus, a position detector for detecting the position of the moving body, a movement distance setting device for setting a movement distance from the position detector, and a delay time movement distance due to a control delay of a signal of the position detector are calculated. When the speed command becomes zero from the delay time movement distance calculator, the motor speed at the time when the detection signal of the position detector is input, and the movement distance target value obtained from the movement distance and the delay time movement distance and a clean press operation arithmetic unit moving distance of the moving body to calculate the acceleration command such that the moving distance target value, the delay time moving distance, detection of the position detector No. motor speed at the time entered, acquires acceleration command and jerk instruction (or acceleration instruction), preset delay time with these acquired value, mobile rated speed is calculated on the basis of the rated motor speed Shall.

  According to the present invention, the acceleration command is calculated so that the moving distance target value is obtained when the speed command becomes zero from the motor speed, the moving distance, and the delay time moving distance when the detection signal of the position detector is input. By doing so, even when there is a control delay in the signal of the position detector, the positioning accuracy of the landing position can be improved regardless of the speed of the moving body.

It is a block diagram which shows embodiment of this invention. It is a time chart explaining the operation | movement of FIG. It is a block diagram which shows a prior art example. 4 is a time chart for explaining the operation of FIG. 3, (a) is a time chart during high-speed operation, and (b) is a time chart during low-speed operation. FIG. 5 is a time chart in which a part of FIG. 4 is enlarged, (a) is a time chart during high-speed operation, and (b) is a time chart during low-speed operation.

FIG. 1 is a block diagram showing an embodiment of the present invention. Components having the same functions as those in FIG.
In Figure 1, 31 is a delay time moving distance calculator, acceleration command at the time the Cree press operation start signal S _B is inputted from the position detector 12 to the Cree press operation calculator 33 alpha (0), jerk instruction j and the motor speed command N (0), and based on the coefficient ratio γ (= V _n / N _n ) between the preset elevator rated speed V _n and the motor rated speed N _{n at} that time, calculates a distance _{L d} moved during the delay time t _delay following numbers 12 to 14. Note that the delay time t _delay can be set to a value confirmed in advance by an actual machine or the like, and the set delay time t _delay is stored in an internal memory or the like.

Reference numeral 32 denotes an adder, which obtains a movement distance target value (L ^* −L _d ) obtained by subtracting the movement distance L _d obtained in Expression 12 from the movement distance L ^* preset by the movement distance setting unit 26. 33 is a clean press operation calculator, when the number 8 of the above, based on the input of Cree press operation start signal S _B, the speed command output from the speed command generator 24 using the number 9 N ^* is zero An acceleration command α (0) and jerk command j that will be the movement distance target value (L ^* −L _d ) are calculated.

FIG. 2 is a time chart showing the operation of FIG. 1, and the operation of FIG. 1 will be described below with reference to FIG.
First, when the position detector 11 detects that the car 7 has reached the deceleration start position A at time t ₁₁ in a constant speed state, a deceleration start signal S _A is issued. In response to this deceleration start signal S _A , the motor 1 starts decelerating according to the deceleration time and S-shaped range set by the setting device 21. Time t ₁₁ ~t ₁₂ is a period to alleviate the shock at the start of deceleration (S-shape range), it is controlled so that jerk is constant. Thereafter, at time t _{12 to} t _{13, the} vehicle is decelerated with a constant acceleration, and from time t _{13, the} vehicle is decelerated again so that the jerk becomes constant in order to alleviate the shock when the acceleration α is made zero.

Time t ₁₄ Dekago 7 in the deceleration reaches the Cree press operation start position B, but when the control delay in the signal of the position detector 12 is present, clean press operation calculating at time t ₁₅ to time delay t _delay has elapsed A creep press operation start signal S _B is input to the device 33. The delay time moving distance calculator 31 acquires the acceleration command α (0), jerk command j, and motor speed command N (0) at time t ₁₅ , and during the delay time t _delay according to the above formulas 12-14. It calculates the distance traveled L _d.

The adder 32 is input to the Cree press operation calculator 33 preset moving distance L ^* from the value obtained by subtracting the moving distance L _d was determined by the number 12 (L ^* -L _d) as a target value of the movement distance. In Cree press operation calculator 33, the time t ₁₅ motor speed value of the time N ^* and distance target values based on the (L ^* -L _d), Cree press operation at the start with the number 8, number 9 described above , The acceleration command α ^* output from the acceleration command generator 23 is rewritten with the acceleration command α (0) calculated by the creep press operation calculator 33. In the speed command generator 24, the acceleration command alpha (0) and outputs a speed command value N ^* momentary obtained based on, then, the speed command value at time t ₁₆ N ^* also becomes zero desired implantation At position C, the car 7 stops.

Although so as to enter a speed command value N ^* as a motor speed at the time the time t ₁₅ to the Cree press operation calculator 33 above, the speed detection from the motor speed detector 16 in place of the speed command value N ^* The value N may be used.

Thus, the acceleration command α (0), jerk command j, and motor speed command N (0) at the time when the creep press operation start signal S _B from the position detector 12 is input are obtained, and the delay time t _delay is obtained. calculates the distance L _d moved between, acceleration command α subtracted value (L ^* -L _d) the moving distance L _d from the moving distance L ^* set in advance as a target value of the movement distance (0), jerk By calculating the command j, the positioning accuracy of the landing position can be improved regardless of the speed of the moving body even when the signal of the position detector 12 has a control delay.

Next, another embodiment of the present invention will be described.
In this embodiment, when calculating the distance moved during the delay time t _delay , the movement distance L _d ′ is calculated using the following equation 15 instead of the above equation 12; The configuration is the same as the embodiment described with reference to FIGS. Equation 15 simplifies the calculation of the movement distance by approximating the change in the motor speed command to a straight line.

That is, in the delay time moving distance calculator 31, the acceleration command α (0) and the motor speed command N (0) at the time when the creep press operation start signal S _B is input from the position detector 12 to the creep press operation calculator 33. And the coefficient ratio of the acquired acceleration command α (0) and motor speed command N (0) to the preset delay time t _delay and moving body rated speed V _n and the motor rated speed N _{n at} that time Based on γ, the distance L _d ′ moved during the delay time t _delay is calculated according to the following equation 15.

_{L d} obtained in this number 15 'to be input to the adder 32 (L ^* -L _d' seeking), as the target value of the movement distance (L ^* -L _d ') Cree press operation calculator 33 Then, the acceleration command α (0) and jerk command j at the start of the creep press operation are calculated using the above-described equations (8) and (9).

1 and 2, the acceleration command α ^* output from the acceleration command generator 23 is rewritten with the acceleration command α (0) calculated by the creep press operation calculator 33 to perform the creep press operation. Execute.

Distance traveled between Cree press operation start signal acceleration command of S when _{the B} is input alpha (0) and the motor speed command N (0) to obtain the time delay t _delay from this so that the position detector 12 L _d ′ is calculated and acceleration command α (0) and jerk command j are obtained by setting a value (L ^* −L _d ′) obtained by subtracting the movement distance L _d ′ from a preset movement distance L ^* as a target value of the movement distance. By calculating this, even when there is a control delay in the signal of the position detector 12, the positioning accuracy of the landing position can be improved regardless of the speed of the moving body.

Furthermore, by calculating the distance L _d ′ moved during the delay time t _delay using _Equation 15, the calculation can be simplified as compared with the embodiment described in FIGS. Reduction and shortening of execution time can be achieved, and an optimal software configuration can be obtained.

  DESCRIPTION OF SYMBOLS 1 ... Motor, 2 ... Brake, 3 ... Reduction gear, 4 ... Sheave, 5 ... Baffle, 6 ... Rope, 7 ... Car, 8 ... Counterweight, 15 ... Power converter, 21 ... Setting device, 22 ... Jerk Command generator 23 ... Acceleration command generator 24 ... Speed command generator 25 ... Speed controller 26 ... Movement distance setter 31 ... Delay time movement distance calculator 33 ... Creepress operation calculator

Claims (3)

In a speed control device that calculates a speed command from an acceleration command, performs speed control of the motor based on the speed command, and controls the motor to move the moving body to a predetermined position.
A position detector for detecting the position of the moving body;
A movement distance setter for setting a movement distance from the position detector;
A delay time moving distance calculator for calculating a delay time moving distance due to a control delay of the signal of the position detector;
When the speed command becomes zero from the motor speed at the time when the detection signal of the position detector is input and the movement distance target value obtained from the movement distance and the delay time movement distance, the movement distance of the moving body is A creep press operation calculator that calculates an acceleration command that will be the target travel distance ,
The delay time moving distance is obtained by acquiring the motor speed, acceleration command and jerk command when the detection signal of the position detector is input, and these acquired values and preset delay time, moving body rated speed, motor A speed control device that calculates based on a rated speed . In a speed control device that calculates a speed command from an acceleration command, performs speed control of the motor based on the speed command, and controls the motor to move the moving body to a predetermined position.
A position detector for detecting the position of the moving body;
A movement distance setter for setting a movement distance from the position detector;
A delay time moving distance calculator for calculating a delay time moving distance due to a control delay of the signal of the position detector;
When the speed command becomes zero from the motor speed at the time when the detection signal of the position detector is input and the movement distance target value obtained from the movement distance and the delay time movement distance, the movement distance of the moving body is A creep press operation calculator that calculates an acceleration command that will be the target travel distance,
The delay time moving distance is obtained by acquiring a motor speed and an acceleration command at the time when a detection signal of the position detector is input, and obtaining these values and a preset delay time, a mobile body rated speed, and a motor rated speed. A speed control device that performs calculation based on the above . The speed control device according to claim 1 or 2,
The speed control device according to claim 1, wherein the travel distance target value is obtained by subtracting the delay time travel distance from the travel distance .