JP6581551B2 - Elevator system - Google Patents

Description

  The present invention relates to an elevator system for controlling driving of a car and braking force of a brake.

  In a conventional elevator, a car connected to the rope can be moved up and down by rotating the electric motor from the power converter and moving the rope up and down via a sheave connected to the electric motor. When a part of the drive system such as the power converter, the electric motor, or the encoder connected to the electric motor breaks down, the elevator stops. The position where the elevator car stops is between the floors, and confinement occurs when passengers are in the car at this time. Since the car does not move in the confined state, the safety of the passenger is ensured, but the passenger is uncomfortable.

  As a method for rescuing a passenger who is trapped due to a failure of such a drive system, a maintenance worker generally performs the method. In particular, if the weight in the car is not balanced with the counterweight, the passenger can be moved by manually releasing the brake and moving the car to the nearest floor using the unbalance with the counterweight. Rescue. In addition, other rescue methods are not the nearest floor, but a method of rescuing passengers by moving a car to a rescue exit provided in a hoistway to rescue passengers, or stopping normal adjacent units. There is a rescue method in which a passenger lying in a car and moving in a car stopped through an exit provided in the car is moved to the normal adjacent car side.

  Moreover, the technique which calculates | requires rescue operation voltage value at the time of rescue operation of a cage | basket | car, and applies the voltage of rescue operation voltage value to a brake coil according to the signal from a speed detector is proposed (refer patent document 1). In Patent Document 1, the rescue operation voltage value is set to a voltage value necessary for reducing the braking force of the brake device and moving the car using an unbalanced state with the car and the counterweight. Therefore, it is described that the rescue operation can be performed in a short time while preventing the ride comfort from being deteriorated.

International Publication No. 2009/013821

  In Patent Document 1, the value of the voltage applied to the brake coil is gradually increased so that the voltage value when the car is started becomes the rescue operation voltage value, or the brake coil is excited when the speed of the car is lower than the target speed. However, when the car speed exceeds the target speed, it is described that the voltage for exciting the brake coil is set to the rescue operation voltage value. No application of the rescue operation voltage value to the brake coil is described. For this reason, moving a car more rapidly becomes a subject.

  An object of the present invention is to move a car more quickly during a rescue operation.

  In order to solve the above-described problems, the present invention provides a sheave around which a rope that connects the car and the car and the balance weight is wound, a motor that adds a rotational force to the sheave, A power converter that controls rotation of the motor; and a brake that applies a braking force to the sheave when the supply of brake power is cut off and releases the braking force on the sheave when the brake power is supplied. In an elevator, the elevator has speed detection means for detecting a speed of the car, and a controller for controlling the brake based on a detection output of the speed detection means, and the controller detects the speed detection means during a rescue operation. Supplies the brake power to the brake and the braking force of the brake on the condition that the vehicle detects the stop of the car. A command value for gradually releasing is generated, the braking force of the brake is controlled according to the generated command value, and then the generated command is provided on the condition that the speed detecting means detects the movement of the car. A value is stored in the information storage memory, and then the detection value of the speed detection means satisfies a certain condition in the process of decreasing the command value in accordance with the speed of the car reaching the target car speed. When the determination is made, the braking force of the brake is controlled according to the command value stored in the information storage memory instead of the reduced command value.

  According to the present invention, the car can be moved more quickly during the rescue operation.

It is a whole lineblock diagram showing one embodiment of an elevator system in the present invention. It is a block diagram for demonstrating the structure of a braking force control part. It is a characteristic view by the control method used as the comparison object of this Embodiment. It is a characteristic view by the 1st control method in this Embodiment. It is a characteristic view by the 2nd control method in this Embodiment. It is a characteristic view by the 3rd control method in this Embodiment. It is a block diagram which shows the control system of a brake current command. It is a flowchart for demonstrating brake electric current command creation processing.

  Hereinafter, an embodiment will be described in detail with reference to the drawings.

  FIG. 1 is an overall configuration diagram showing an embodiment of an elevator system according to the present invention. The movement of an elevator car (car) 104 is controlled by an elevator controller (control unit) 100. The elevator controller 100 includes a braking force control unit 20 in addition to the elevator control unit 2 that performs elevator operation control.

  The car 104 moves between a plurality of floors in a hoistway formed in the building, and is connected to a counterweight 106 (a weight for balancing with the car 104) via a rope 105. The car 104 is provided with a car-side door (not shown) that engages with the landing-side door and opens and closes. The car 104 is moved by driving a sheave (not shown) by an electric motor (motor) 103. A sheave around which the rope 105 is wound and an electric motor 103 that rotationally drives the sheave are elements that constitute a hoisting machine (not shown). The electric power converter 101 supplies driving electric power to the electric motor 103. Is called. The power converter 101 outputs power for controlling the electric motor 103 in accordance with the car position control command of the elevator controller 100. Further, a pulse generator such as an encoder is attached to the electric motor 103, and the elevator controller 100 counts the pulses generated by the rotation of the electric motor 103, so that the speed of the electric motor 103, the hoistway moving direction, position, and movement of the car 104 Calculate distance, etc. When braking the car 104, the elevator controller 100 outputs a brake power supply stop command and a power supply power stop command (not shown). When these stop commands are output, the supply of the brake power supply to the brake 102 is cut off, and the supply of the power supply to the power converter 101 is cut off, and the car 104 is braked. The interruption and supply of the brake power and the power supply are controlled by opening and closing an electromagnetic contactor (not shown) called a contactor.

  The brake 102 includes a brake pad for braking the sheave by friction sliding, a solenoid coil for lifting the brake pad to ensure a gap between the sheave and the brake pad, and an iron core (both not shown). ) Normally, when electric power (electric power from the brake power supply) is supplied to the solenoid coil, the brake pad is pulled up by electromagnetic force, and the sheave is not restricted by the brake pad and can freely rotate. Electric power is supplied to the solenoid coil from a brake power source via a relay. The brake 102 is configured to be able to change the braking force by a brake current control circuit 21 that controls a current (brake current) flowing to the solenoid coil. For example, the brake 102 is configured to apply a braking force to the sheave when the supply of the brake power is cut off, and to release the braking force on the sheave upon receiving the supply of the brake power.

  The brake current control circuit 21 includes a converter such as an inverter circuit or a chopper circuit that controls current or voltage, a hall CT that detects the brake current, and a controller that controls the brake current, and flows from the elevator controller 100 to the solenoid coil. A current command value (brake current command value) is received, and the brake current is controlled according to the command value. In the present embodiment, as an example for changing the braking force, a brake mechanism that changes the braking force according to the current using the solenoid coil is illustrated. However, for example, by using a direct acting actuator, A brake that changes the braking force according to the distance or a brake (such as a shoe brake) that changes the braking force according to the rotation angle by using a rotation mechanism may be used. In general, any type of brake that changes the braking force according to a command does not depend on the type of brake.

  The scale sensor 4 is a sensor that detects the number of passengers in the car 104. During normal operation, it is used to calculate the required torque to compensate for the weight difference between the car 104 and the counterweight 106. When the car floor is made of metal, the scale sensor 4 is a proximity sensor provided on the car frame, and a method of estimating the weight from the amount of deflection of the car floor is used.

  The position sensor 5 is a door zone sensor that detects whether the car 104 is at a position where the door can be opened by detecting the detection plate 6 in the hoistway.

  The safety controller 1 is a controller that constitutes a safety system that brakes the car 104 by cutting off the brake power and the power supply independently of the elevator controller 100. The safety controller 1 has a configuration centered on a CPU (Central Processing Unit) that executes processing, and further includes a watchdog timer for detecting an abnormality of the CPU and a circuit for monitoring a power supply abnormality. In addition, in order to detect processing abnormality of the CPU, there may be a configuration in which mutual comparison is performed by duplicating the CPU.

  The input of the safety controller 1 is constituted by an output signal of the means 7 for detecting the position / speed / acceleration of the car and a signal from the means 8 for detecting the operation of the elevator safety device. The means 7 for detecting the position / velocity / acceleration of the car is constituted by, for example, a pulse generator that outputs a pulse in accordance with the position of the car 104. In the present embodiment, a pulse generator in which an encoder is attached to a governor can be used. As a means 7 for detecting the position / velocity / acceleration of the car, a type of detecting the movement of the car 104 by pressing a roller directly against the guide rail, a type of detecting the magnet by magnetizing the rail, etc. Any means capable of detecting the absolute or relative position of the car may be used.

  The output of the safety controller 1 includes a brake power cutoff output 9, a power source cutoff output 10, and a car position and speed information output 23 detected by the safety controller 1. The brake power cutoff output 9 is an output for shutting off the brake power supplied to the brake 102 and operating the brake 102. The power supply cutoff output 10 is an output for stopping the electric motor 103 by cutting off the power supply to the power converter 101. Either output is used to brake the car 104.

  FIG. 2 is a block diagram for explaining the configuration of the braking force control unit. In FIG. 2, the braking force control unit 20 executes a rescue operation start detection process 30 as a process for detecting a rescue operation start command transmitted from the elevator controller 2 of the elevator controller 100. In the rescue operation start detection process 30, the braking force control unit 20 determines the start or stop of the rescue operation identified by the rescue operation start command, and uses the determination result in the brake current command creation process 32. In addition, the braking force control unit 20 receives the car position and speed information output 23 input from the safety controller 1 and performs a car speed detection process as a process for detecting the car speed of the own machine in the current hoistway. 31 is executed, and the detected car speed is used in the brake current command generation process 32 as a processing result.

  When the processing result of the rescue operation start detection process 30 is a rescue operation start command, the braking force control unit 20 creates a brake current command and uses the generated brake current command as a brake current command. Output to the control circuit 21. At this time, in the brake current command creation process 32, the braking force control unit 20 performs a process of changing the brake current command based on the car speed that is the result of the car speed detection process 31, and performs a brake according to the car speed. The current command is output to the brake current control circuit 21. When the braking force control unit 20 creates a brake current command in the brake current command creation process 32, the braking force control unit 20 obtains an adjustment parameter that differs depending on the type of brake from the model information database (DB) 33, and uses the obtained adjustment parameter as the brake current Reflect in the directive. Further, when the car speed detection process 31 detects the car speed, the braking force control unit 20 stores (stores) the brake current command created by the brake current command creation processing part 32 in the information storage memory 34, for example, the car When the speed becomes zero or when the car speed falls below the target car speed, the brake current command stored in the information storage memory 34 is extracted, and the extracted brake current command is output to the brake current control circuit 21. To do.

Next, a brake control method will be described with reference to FIGS. 3A, 3B, 4A, and 4B. FIGS. 3a, 3b, 4a and 4b are characteristic diagrams for explaining the brake control method. The brake current command i ^* created by the brake current command creation process 32 and the brake current i flowing through the solenoid coil are shown. The relationship between the brake torque T acting between the brake pad and the sheave and the car speed V is shown as the horizontal axis time. 3a is a characteristic diagram according to the control method to be compared with the present embodiment, FIG. 3b is a characteristic diagram according to the first control method in the present embodiment, and FIG. 4a is a characteristic diagram according to the present embodiment. FIG. 4B shows a characteristic diagram according to the third control method in the present embodiment. For convenience of explanation, the time axis is divided into five sections 1 to 5 according to times t1, t2, t3, t4, and t5. Hereinafter, the basic operation method will be described in order from section 1.

First, in FIG. 3a, in section 1, the brake current command i ^* is in a zero state, the brake torque T is in a state sufficient to restrain the sheave, and the car speed V is zero. ing.

Section 2 is a state in which the brake current command i ^* is increased stepwise, and accordingly, the brake current i flowing through the solenoid coil is also increased. Here, the purpose of increasing the brake current command i ^* (or brake current i) is to reduce the brake torque T, which is the braking force of the brake, by increasing the brake current i, and from the balance between the car 104 and the balance weight 106. The purpose is to bring the generated torque and the braking force of the brake 102 into an equilibrium state. In section 2, as the brake current i increases, electromagnetic force is generated in the solenoid coil, and the brake torque T is weakened. In this state, the brake torque T is caused by the balance between the car 104 and the weight 106. Since the torque is greater than the torque, the car 104 does not move and the car speed V remains zero. Further, the brake current command i ^* is changed stepwise at this time because the response of the brake 102 is taken into consideration.

Section 3 shows a state in which the brake current command i ^* is fixed at the timing when the car speed V is detected. The detection of the car speed V indicates a state in which the brake torque T is smaller than the torque generated by the balance between the car 104 and the balance 106. At this time, by fixing the brake current command i ^* , the car 104 is accelerated by the difference between the brake torque T, which is the braking force of the brake 102, and the torque generated by the balance between the car 104 and the weight 106. Can do.

In section 4, since the detected car speed V exceeds the target car speed V ^* , the brake current command i ^* is decreased and the car speed V of the car 104 is decreased.

Section 5 shows a state where the brake current command i ^* once decreased is increased again from the decreased value. In this case, since the car speed V once drops to substantially zero, a long time is required until the car 104 starts to move after the second time. This phenomenon is likely to occur in the case of a brake in which the response of magnetic flux is slow with respect to a change in electric current, which requires a lot of time to rescue the passenger and gives the passenger anxiety.

  Next, the first control method in FIG. 3B will be described. The first control method is basically the same as the control method of FIG.

Section 4 Oite, if the control method of FIG. 3a, the time value of the brake current command i ^* is dropped to zero, and increases the brake current command i ^* stepwise again. On the other hand, in the first control method, the brake current command i ^* when the car 104 starts to move once in the section 3 is stored in the information storage memory 34, and the car speed V becomes zero in the section 4. The brake current command i ^* is controlled to the brake current command value stored in the information storage memory 34 at the timing. In section 5, the brake current command i ^* is set to the brake current command value stored in the information storage memory 34, and then decreases. Thereby, in the section 5, it becomes possible to shorten the time until the car 104 starts to move from the second time onward, and the passenger can be rescued early.

  Next, the second control method in FIG. 4A will be described. The second control method is basically the same as the first control method in the sections 1 to 3.

In the second control method, the brake current command i ^* when the car 104 starts to move once in the section 3 is stored in the information storage memory 34, and the car speed V in the section 4 is a parameter, for example, the target car speed V. ^The brake current command i ^* is controlled to the brake current command value stored in the information storage memory 34 at a timing lower than ^* . In section 5, the brake current command i ^* is set to the brake current command value stored in the information storage memory 34, and then decreases. In this case, since the car 104 is moving in the section 5, it is possible to further shorten the time until the car 104 starts to move from the second time onward, thereby enabling early rescue of passengers.

  Next, the third control method in FIG. 4B will be described. The third control method is basically the same as the first control method in the sections 1 to 3.

In the third control method, the brake current command i ^* when the car 104 starts to move once in the section 3 is stored in the information storage memory 34, and the car speed V in the section 4 is a parameter, for example, the target car speed V. ^The brake current command i ^* is controlled to the brake current command value stored in the information storage memory 34 at a timing lower than ^* . In section 5, the brake current command i ^* is set to the brake current command value stored in the information storage memory 34, and thereafter increases stepwise and then decreases. In this case, since the car 104 is moving in the section 5, it is possible to further shorten the time until the car 104 starts to move from the second time onward, thereby enabling early rescue of passengers.

FIG. 5 is a block diagram showing a brake current command control system. In FIG. 5, the brake current command control system includes an ASR (speed controller), an ACR (current controller) 503 for controlling the brake current, a brake coil model 504, a brake body model 505, and a brake current. A command generation unit 506, a brake current command hold unit 507, a car speed detector 508, and the like are included. In the present embodiment, the switch 501 for inputting the speed command V ^* is opened, and the ASR (speed controller) 502 is disconnected from the control loop.

  The car speed detector 508 receives the car speed (Vre) 509, detects the car speed of the car 104, and outputs the detection result to the brake current command generation unit 506 and the brake current command hold unit 507. The brake current command generation unit 506 generates a brake current command (brake current command value) according to the car speed, and outputs the generated brake current command to the brake current command hold unit 507. The brake current command hold unit 507 stores the brake current command value when the car 104 starts moving in the information storage memory 34, and the brake current command value stored in the information storage memory 34 when the car 104 starts to move next time. The brake current command is output to the current controller 503. As a result, when the car 104 starts to move next time, a brake current according to the brake current command value stored in the information storage memory 34 flows to the model (brake body) 505.

  FIG. 6 is a flowchart for explaining the brake current command generation processing. Hereinafter, a specific operation of the brake current command creation processing 32 will be described with reference to FIG.

  First, the braking force control unit 20 determines whether the rescue operation start command is ON (start) / OFF (stop) from the processing result of the rescue operation start processing 30 (step S101), and the rescue operation start command is OFF. In this case, the process ends, and if the rescue operation start command is ON, the process proceeds to step S102. Here, the condition that the rescue operation start command is turned on is normally set when a passenger is confined in the car and the motor cannot be driven due to some abnormality. In addition, as an operation condition at this time, it is necessary that the brake 102 operates normally. The condition for the rescue operation start command to be turned off is set when the door reaches an openable position on the nearest floor during normal operation or during rescue operation. Further, ON (start) / OFF (stop) may be set manually.

Next, the braking force control unit 20 determines whether or not the car speed V is zero (step S102). If the car speed V is zero, the car 104 is stopped by the brake 102. It is determined whether the car has moved for the first time (step S103). When the car 104 moves for the first time, the brake current T at that time is increased to weaken the brake torque T, which is the braking force of the brake 102, and the torque generated from the balance between the car 104 and the weight 106 and the brake 102 is controlled. In order to bring the power into an equilibrium state, the braking force control unit 20 increases the brake current command (current command) i ^* (step S105), and ends the processing in this routine.

On the other hand, if the car 104 has moved for the second time or later in step S103, the braking force control unit 20 uses the brake current command value (current value) stored in the information storage memory 34 as the brake current command (current command). ) Set to i ^* (step S104). Note that the timing of storage in the information storage memory 34 will be described later in step S108. Thereafter, the braking force control unit 20 increases the brake current command (current command) i ^* from the set current command value (step S105), and ends the processing in this routine. The value for increasing the brake current command i ^* is determined according to the resolution for controlling the brake 102.

On the other hand, if the car speed V is not zero in step S102, that is, if the car 104 is moving, the braking force control unit 20 fixes the brake current command (current command) i ^* (S106). At this time, by fixing the brake current command i ^* when the car speed V is not zero, it is possible to ensure that the brake pad and the sheave are rubbed without completely releasing the brake 102.

  Next, the braking force control unit 20 determines whether or not the car 104 has moved for the first time (step S107). If the car 104 has moved for the first time, the brake current command value (current command value) at the time of movement is stored as information. The data is stored in the memory 34 (step S108), and then the process proceeds to step S109.

The braking force control unit 20 determines whether the car speed V is greater than the target car speed V ^* when it is determined in step S107 that the car 104 is not moving for the first time or after the process of step S109 (step S109). . The target car speed V ^* is set at a normal maintenance operation speed or a lower speed, but may be set at a rated speed.

When the car speed V is higher than the target car speed V ^* in step S109, the braking force control unit 20 decreases the brake current command i ^* in order to decelerate the car 104 by the brake torque (step S110). Terminate the process.

If the car speed V is not greater than the target car speed V ^* in step S109, the braking force control unit 20 determines whether the car speed V is smaller than the target car speed V ^* (step S111). Is smaller than the target car speed V ^* , the brake current command i ^* is increased to reduce the brake torque and increase the car 104 (step S112). Thereafter, the processing in this routine is terminated, and the car speed is increased. If V is not smaller than the target car speed V ^* , the processing in this routine is terminated as it is.

  According to the present embodiment, during the rescue operation, a brake command value is generated based on the speed of the car 104, and the speed of the car 104 is controlled in the process of controlling the braking force of the brake 102 according to the generated brake command value. When the brake command value is decreased as the speed is increased, the braking force (with respect to the sheave) of the brake 102 is determined at an earlier timing according to the brake command value stored in the information storage memory 34 instead of the decreased brake command value. Since the braking force (braking force of the brake 102) is controlled (control for reducing the braking force), the car 104 can be moved more quickly. That is, after the car 104 has moved once under the control of the elevator controller 100, when the speed detection means 7 detects that the car 104 has stopped, the elevator controller 100 stores the brake control command value stored in the information storage memory 34. Is supplied to the brake current control circuit 21 as a brake control command to enable the car 104 to move. Thereby, even when the brake control command value is lowered more than the value necessary for the car 104 to start moving, the brake control command value necessary for the car 104 to start moving is instantaneously given to the brake current control circuit 21, The car 104 can be moved quickly. As a result, the rescue time of the passenger can be shortened, and the passenger's anxiety can be reduced. In addition, since the braking force of the brake is changed based on the car speed, this embodiment can be applied without depending on the type of the brake.

  In addition, this invention is not limited to above-described embodiment, Various modifications are included. For example, the controller can be configured by integrating the elevator controller 100 and the brake current control circuit 21, or the controller can be configured by integrating the safety controller 1, the elevator controller 100, and the brake current control circuit 21. At this time, the controller functions as a controller that controls the brake 102 based on the detection output of the speed detection means (transition detection means) that detects the speed or movement of the car 104, and the supply of power to the power converter 101 is stopped. In the rescue operation after the supply of brake power to the brake 102 is stopped, the following processing can be executed. For example, the controller supplies a brake power to the brake 102 on the condition that the speed detection means detects the stop of the car 104, and a command value (brake current command for gradually releasing the braking force of the brake 102). Value), and the braking force of the brake 102 is controlled in accordance with the generated command value. Thereafter, the generated command value is stored in the information storage memory 34 on condition that the speed detection means detects the movement of the car 104. Then, when it is determined that the detection output of the speed detection means satisfies a certain condition in the process of decreasing the command value as the speed of the car 104 reaches the target car speed, instead of the decreased command value The braking force of the brake 102 is controlled according to the command value stored in the information storage memory 34.

  At this time, the controller determines that a certain condition is satisfied when the speed detecting means detects the stop of the car 104 again, or the speed detecting means detects that the speed of the car 104 has fallen below the target car speed. In this case, it can be determined that a certain condition is satisfied. In addition, in the process of controlling the braking force of the brake 102 in accordance with the command value stored in the information storage memory 34, the controller sets a command value for gradually increasing the command value based on the command value stored in the information storage memory 34. The braking force of the brake 102 can be controlled according to the generated command value.

  In addition, it is possible to add, delete, and replace other configurations for a part of the configuration of the embodiment. Further, each of the above-described configurations, functions, and the like may be realized by hardware by designing a part or all of them with, for example, an integrated circuit. Each of the above-described configurations, functions, and the like may be realized by software by interpreting and executing a program that realizes each function by the processor. Information such as programs, tables, and files that realize each function should be recorded in a recording device such as a memory, hard disk, or SSD (Solid State Drive), or a recording medium such as an IC card, SD card, or DVD. Can do.

  DESCRIPTION OF SYMBOLS 1 Safety controller, 2 Elevator control part, 4 Scale sensor, 5 Position sensor, 20 Braking force control part, 21 Brake current control circuit, 100 Elevator controller, 101 Power converter, 102 Brake, 103 Electric motor, 104 Car, 106 Balance weight

Claims (1)

A sheave around which a rope connecting the car, the car and the balance weight is wound, a motor that applies a rotational force to the sheave, a power converter that controls the rotation of the motor, and a brake power supply are cut off An elevator comprising a brake that applies a braking force to the sheave when released and receives a supply of the brake power to release the braking force on the sheave;
Speed detecting means for detecting movement or speed of the car;
A controller for controlling the brake based on the detection output of the speed detection means,
The controller is
In the rescue operation, the brake power is supplied to the brake and a command value for gradually releasing the braking force of the brake is generated on the condition that the speed detecting means detects the stop of the car. and to control the braking force of the brake in accordance with the command value thus generated, then the speed detecting means on condition that detects movement of the car, said speed detecting means of the generated command value the The command value generated when the movement of the car is detected is stored in an information storage memory, and then the speed is reduced in the process of reducing the command value as the speed of the car reaches the target car speed. detecting means, when the speed of the car is detected to be lower than the target car speed, the command value stored in the information storage memory in place of the reduced command value Elevator system the command value to generate a gradual command value is increased, and controls the braking force of the brake in accordance with the command value thus generated to.

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