JP7188610B2 - Elevator cord condition estimation device and elevator system - Google Patents

Description

The present invention relates to an elevator cord state estimation device and an elevator system.

Patent Literature 1 discloses an example of an abnormal state detection device for an elevator. The abnormal condition detection device includes a TOF camera (TOF: Time Of Flight) that captures an image of the governor rope. The abnormal condition detection device calculates the vibration direction and amplitude of the governor rope at the position where the TOF camera is provided based on the image captured by the TOF camera. The abnormal condition detector estimates the maximum amplitude of the governor rope based on the calculated vibration direction and amplitude.

Japanese Patent Application Laid-Open No. 2018-177532

However, the abnormal state detection device of Patent Document 1 estimates the maximum amplitude of the governor rope based on the magnitude of the amplitude. On the other hand, since the amplitude of the rope vibration at the node is very small, the magnitude of the amplitude measured at the node is susceptible to disturbance. Therefore, in the abnormal state detection device of Patent Document 1, when the TOF camera is provided at the joint, the amplitude may not be stably estimated.

The present invention was made to solve such problems. SUMMARY OF THE INVENTION An object of the present invention is to provide a state estimating device and an elevator system capable of stably estimating the amplitude of the abdomen even at the vibration node of the elevator cord body.

A state estimating device for an elevator cable body according to the present invention includes a pair of contact bodies provided at mutually symmetrical positions with respect to the elevator cable body along the nodal portion of the fundamental vibration of the elevator cable body, and a pair of contacts. a contact detection unit that detects contact of a node with at least one of the body; and a basic vibration of the cord body based on at least two types of time out of the start time and end time of the contact with each of the pair of contact bodies. an amplitude estimator for estimating the amplitude of the abdomen.

An elevator system according to the present invention includes a pair of contact bodies provided at mutually symmetrical positions with respect to the cable body along a node of fundamental vibration of the cable body of the elevator, and a node to at least one of the pair of contact bodies. Amplitude for estimating the amplitude of the abdomen of the basic vibration of the cord body based on at least two types of times from the contact detection part that detects contact with each of the pair of contact bodies and the start time and end time of contact with each of the pair of contact bodies and an estimating unit.

With the state estimating device or the elevator system according to the present invention, the amplitude of the abdomen can be stably estimated at the vibration node of the elevator cord body.

1 is a configuration diagram of an elevator system according to Embodiment 1; FIG. 1 is a configuration diagram of an elevator system according to Embodiment 1; FIG. 1 is a configuration diagram of a state estimation device according to Embodiment 1; FIG. 4 is a diagram showing an example of estimation by the state estimation device according to Embodiment 1; FIG. 4 is a diagram showing an example of estimation by the state estimation device according to Embodiment 1; FIG. 4 is a flow chart showing an example of the operation of the elevator system according to Embodiment 1; 2 is a hardware configuration diagram of main parts of the elevator system according to Embodiment 1. FIG. FIG. 10 is a configuration diagram of a state estimation device according to Embodiment 2; FIG. 11 is a configuration diagram of a state estimation device according to Embodiment 3;

A mode for carrying out the present invention will be described with reference to the accompanying drawings. In each figure, the same or corresponding parts are denoted by the same reference numerals, and overlapping descriptions are appropriately simplified or omitted.

Embodiment 1.
1 and 2 are configuration diagrams of an elevator system according to Embodiment 1. FIG.

In the example shown in FIG. 1, an elevator system 1 is applied to a building 2 having multiple floors. In an elevator system 1, a hoistway 3 is provided over multiple floors of a building 2. FIG. In the elevator system 1 , a machine room 4 is provided above the hoistway 3 . In the machine room 4, a rope duct 5 is provided on the floor. The rope duct 5 is an opening leading from the machine room 4 to the hoistway 3 . In the elevator system 1 , for example a pit 6 is provided at the lower end of the hoistway 3 .

The elevator system 1 comprises a hoist 7 , a main rope 8 , a deflector 9 , a car 10 , a counterweight 11 , a counter rope 12 and a tension pulley 13 . The hoist 7 is provided in the machine room 4, for example. The hoist 7 has a sheave and a motor. The sheave of the hoisting machine 7 is connected to the rotating shaft of the motor of the hoisting machine 7 . The motor of the hoisting machine 7 is a device that generates driving force for rotating the sheave of the hoisting machine 7 . The main rope 8 is wrapped around the sheave of the hoisting machine 7 and the deflector wheel 9 . The deflection wheel 9 is provided in the machine room 4, for example. The deflector 9 is a sheave. A main rope 8 extends from the machine room 4 to the hoistway 3 through the rope duct 5 . A car 10 and a counterweight 11 are suspended by a main rope 8 in the hoistway 3 . The car 10 is a device that transports passengers and the like between a plurality of floors by running vertically inside the hoistway 3 . The counterweight 11 is a device that balances the load applied to the sheave of the hoisting machine 7 through the main rope 8 with the car 10 . The car 10 and the counterweight 11 travel in opposite directions in the hoistway 3 as the main rope 8 is moved by the rotation of the sheave of the hoisting machine 7 . The counterbalance rope 12 is a device that compensates for the imbalance between the weight of the main rope 8 on the car 10 side and the weight of the main rope 8 on the counterweight 11 side caused by the movement of the main rope 8 . One end of the balance rope 12 is attached to the car 10 . The other end of the counterweight rope 12 is attached to the counterweight 11 . A balancing rope 12 is wound around a tension wheel 13 . The tension wheel 13 is a sheave that tensions the balancing rope 12 . The tension wheel 13 is provided in the pit 6, for example. The main rope 8 is an example of an elevator strand . The balance rope 12 is an example of an elevator strand . Elevator ligaments may include, for example, wire ropes, belt ropes, or chains.

The elevator system 1 includes a governor 14 , a governor rope 15 and a tension pulley 16 . The speed governor 14 is provided in the machine room 4, for example. The speed governor 14 is a device that suppresses excessive travel speed of the car 10 . The speed governor 14 has a sheave. The governor rope 15 is wound around the sheave of the governor 14 . Both ends of the governor rope 15 are attached to the car 10 . A governor rope 15 is wound around a tension wheel 16 . The tension wheel 16 is a sheave that tensions the governor rope 15 . The tension wheel 16 is provided in the pit 6, for example. The governor rope 15 is an example of an elevator cable .

The elevator system 1 includes control cables 17 and a control panel 18 . The control cable 17 is a cable for communicating control signals and the like. One end of the control cable 17 is connected to the car 10 . The other end of the control cable 17 is attached to the wall surface of the hoistway 3, for example. The control panel 18 is a device that controls the operation of the elevator. The control panel 18 is provided in the machine room 4, for example. The control board 18 communicates control signals with the car 10 through, for example, the control cable 17 . The control cable 17 is an example of an elevator cable .

In the following, description will be made using an xyz orthogonal coordinate system set as follows. The positive direction of the x-axis is vertically downward. The yz plane is the horizontal plane. The direction of the z-axis is the direction of the axis of rotation of the sheave of the hoisting machine 7 .

FIG. 2 is a diagram showing a state in which a building shake 19 is occurring in the elevator system 1. As shown in FIG. The building shaking 19 is shaking of the building 2 caused by disturbance such as an earthquake or wind. When the building sway 19 occurs, the hoist 7 and the speed governor 14 fixed to the building 2 sway together with the building 2 . This causes the main rope 8, the counter rope 12, the governor rope 15 and the control cable 17, which are examples of elevator ligaments , to be vibrated. Here, when the frequency of the building swaying 19 and the natural frequency of the cord body match, the swaying of the cord body increases due to the resonance phenomenon. When a resonance phenomenon occurs in the elevator system 1, the cord often resonates due to the fundamental vibration. The fundamental vibration is the vibration corresponding to the lowest natural frequency. In the example shown in FIG. 2, a resonance phenomenon occurs due to the fundamental vibration of the portion of the main rope 8 on the car 10 side.

In this example, the car 10 side portion of the main rope 8 is pulled out from the sheave of the hoist 7 into the hoistway 3 and attached to the car 10 . Therefore, the nodes of the fundamental vibration of the car 10 side portion of the main rope 8 are the point N1 where it is pulled out from the sheave of the hoisting machine 7 and the point N2 where it is attached to the car 10 . The antinode of the fundamental vibration of the car 10 side portion of the main rope 8 is the point M midway between the two nodes. The car 10 side portion of the main rope 8 oscillates about an equilibrium position 20 . Equilibrium position 20 is the position on the line segment connecting the two nodes.

The node of the fundamental vibration of the car 10 side portion of the balance rope 12 is, for example, the point where it is pulled out from the pulley 13 and the point where it is attached to the car 10 . At this time, the antinode of the fundamental vibration of the car 10 side portion of the balance rope 12 is the middle point between the two nodes. Further, the nodes of the fundamental vibration of the governor rope 15 are, for example, the point at which it is pulled out from the sheave of the governor 14 and the point at which it is pulled out from the pulley 16 . At this time, the antinode of the fundamental vibration of the governor rope 15 is the middle point between the two nodes. Also, the node of the basic vibration of the control cable 17 is the point attached to the car 10, for example. At this time, the antinode of the fundamental vibration of the control cable 17 is, for example, the lower end of the portion descending from the car 10 . In the following, the portion on the car 10 side of the main rope 8 is taken as an example of the vibrating portion of the cable .

The elevator system 1 has a state estimation device 21 . The state estimating device 21 is a device for estimating the swaying state of the vibrating portion of the elevator cable . The state estimation device 21 is provided in the rope duct 5 of the machine room 4, for example.

Next, the configuration of the state estimation device 21 will be described.
3 is a configuration diagram of a state estimation device according to Embodiment 1. FIG.
In this example, the state estimating device 21 is provided to estimate the sway state of the main rope 8 in the y-axis direction. The state estimating device 21 may be provided to estimate the state of shaking in other horizontal directions, such as the z-axis direction.

The state estimation device 21 includes a pair of contact bodies 22 , a contact detection section 23 and an amplitude estimation section 24 .

A pair of contact bodies 22 are provided, for example, at the edges of the rope duct 5 . Each of the pair of contact bodies 22 is provided along the node of the vibrating portion of the main rope 8 . Here, the node portion of the main rope 8 is a portion that vibrates at the end portion on the node side of the fundamental vibration of the vibrating portion. A node is a portion closer to either the node N1 or the node N2 than the antinode M of the fundamental vibration of the vibrating portion. The node is not the node N1 or the node N2 itself, as it is the vibrating portion of the vibrating portion. Also, the abdomen of the main rope 8 is the abdomen of the vibrating portion. The abdomen is a portion closer to the antinode M than the nodes N1 and N2 of the fundamental vibration of the vibrating portion. The abdomen may be the abdomen M itself. A pair of contact bodies 22 are provided at mutually symmetrical positions with respect to the main rope 8 in the equilibrium position 20 . A pair of contact bodies 22 face each other with the main rope 8 interposed therebetween. In this example, one contact 22 is located on the positive y-axis side of the equilibrium position 20 of the main rope 8 . The other contact 22 is located on the negative y-axis side of the equilibrium position 20 of the main rope 8 . Each of the pair of contacts 22 is positioned a distance Y from the equilibrium position 20 of the main rope 8 . The interval between the pair of contact bodies 22 is narrower than the width of the rope duct 5. In this example, the width of the rope duct 5 is set so that the main rope 8 does not come into contact with the vibrating portion even if a resonance phenomenon occurs. A lower end of each of the pair of contact bodies 22 is arranged at a position separated from the node N1 of the vibrating body by a distance x0 in the _x -axis direction.

The contact detection unit 23 has a pair of contact detection sensors 25 . One contact detection sensor 25 corresponds to the contact body 22 arranged on the positive side of the y-axis from the equilibrium position 20 of the main rope 8 . The other contact detection sensor 25 corresponds to the contact body 22 arranged on the negative side of the y-axis from the equilibrium position 20 of the main rope 8 . The contact detection sensor 25 is a sensor that detects the start and end of contact of the main rope 8 with the corresponding contact body 22 . The contact detection sensor 25 is, for example, a force sensor or a pressure sensor. The contact detection sensor 25 may be, for example, a push switch that detects the presence or absence of contact without detecting the strength of contact.

The amplitude estimator 24 is connected to the contact detector 23 so as to acquire signals indicating the start and end of contact detected by the contact detector 23 . The amplitude estimator 24 has, for example, a clock function so as to acquire the contact start and end times.

The control panel 18 of the elevator system 1 has an operation mode management section 26 . The operation mode management part 26 is a part which manages the operation mode of an elevator. The operating mode of the elevator includes, for example, a normal operating mode and a controlled operating mode. The normal operation mode is a normal operation mode for transporting passengers and the like. The control operation mode is, for example, an operation mode in which diagnostic operation or the like is performed when an abnormality occurs.

Next, an example of estimating the swaying state of the cord body by the state estimating device 21 will be described with reference to FIGS. 4 and 5. FIG.
4 and 5 are diagrams showing examples of estimation by the state estimation device according to Embodiment 1. FIG.

On the left side of FIG. 4 the swinging of the oscillating portion of the main rope 8 is shown if the elevator system 1 were not provided with the contact 22 . The length of the vibrating portion of the main rope 8 is the length L from node N1 to node N2. The length from node N1 to antinode M is L/2. In the fundamental vibration of the vibrating portion of the main rope 8, the distribution of amplitude in the x-axis direction is sinusoidal. Therefore, the amplitude Y' at the position x0 in the _x -axis direction with reference to the node N1 is expressed by the following equation (1) using the amplitude A' of the abdomen.

・・・・・・（１）

(1)

On the right side of FIG. 4, on the other hand, the swaying of the oscillating portion of the main rope 8 in the elevator system 1 provided with the contact 22 is shown. The displacement of the main rope 8 at position x ₀ is limited to not exceed Y by means of a contact 22 which is provided at a distance Y from the equilibrium position 20 of the main rope 8 at position x ₀ . Here, the length _x0 from the node N1 to the contact body 22 is sufficiently shorter than the length L of the vibrating portion. Therefore, the vibration of the vibrating portion below the position x0 in the elevator system ₁ provided with the contactor 22 is the same as the vibration of the entire vibrating portion when the contactor 22 is not provided in the elevator system 1. can be regarded as At this time, the vibration of the vibrating portion in the elevator system 1 provided with the contact member 22 can be approximated as the vibration to which the offset of the displacement Y due to the interval of the contact member 22 is added. Therefore, the abdomen amplitude A in the elevator system 1 is represented by the following equation (2) using the amplitude A' in the abdomen when the contact member 22 is not provided in the elevator system 1.

・・・・・・（２）

(2)

Note that _x0 is sufficiently short relative to L. At this time, A=A' may be established. Therefore, the abdominal amplitude A in the elevator system 1 is represented by the following equation (3).

・・・・・・（３）

(3)

In the upper part of FIG. 5 there is shown a graph of the change in displacement over time at the knot of the main rope 8 at the position x0 when the elevator system ₁ was not provided with the contact 22 . In this graph, the horizontal axis represents time change. The vertical axis represents the displacement of the main rope 8 from its equilibrium position 20 . The thick solid line in the graph represents the displacement of the node. At this time, the node vibrates in the form of a sine function with an amplitude of Y'. Therefore, if the period of vibration is T, the velocity v' of the node at the equilibrium position 20 is expressed by the following equation (4).

・・・・・・（４）

(4)

On the other hand, in the lower part of FIG. 5, for the elevator system ₁ provided with the contactor 22, a graph of the displacement over time at the position x0, which is the node of the main rope 8, is shown. In this graph, the horizontal axis represents time change. The vertical axis represents the displacement of the main rope 8 from its equilibrium position 20 . The thick solid line in the graph represents the actual displacement of the node. The thick dashed line in the graph represents the sinusoidal vibration with amplitude Y' when the elevator system 1 was not provided with the contact 22 .

The two contact bodies 22 limit the displacement of the knot portion of the main rope 8 to a range not exceeding Y. In this example, the node vibrates into contact with a contact 22 located on the negative side of the y-axis from the equilibrium position 20 of the main rope 8 . The contact detection sensor 25 corresponding to the contact body 22 detects the start of contact of the node with the contact body 22 . At this time, the portion of the vibrating portion of the main rope 8 below the contact member 22 continues to move due to inertia. Here, since x ₀ is sufficiently short with respect to L, the portion below the contactor 22 vibrates in the same manner as when the contactor 22 is not provided in the elevator system 1 . During this time, the displacement of the node contacting the contact body 22 remains Y due to the contact body 22 . After the portion below contact 22 has reached its maximum displacement, it moves back to equilibrium position 20 .

At a subsequent time t ₁ , the node moves away from the contact 22 with which it was in contact as the portion below the contact 22 returns to the equilibrium position 20 . The contact detection sensor 25 corresponding to the contact body 22 detects the end of the contact of the node with the contact body 22 . The knot of the main rope 8 passes through the equilibrium position 20 with a velocity v in the positive direction of the y-axis.

At a subsequent time t ₂ , the knot contacts a contact 22 located on the positive y-axis side of the equilibrium position 20 of the main rope 8 . The contact detection sensor 25 corresponding to the contact body 22 detects the start of contact of the node with the contact body 22 . The portion of the vibrating portion of the main rope 8 below the contact member 22 continues to move due to inertia. During this time, the displacement of the node contacting the contact body 22 remains Y due to the contact body 22 . After the portion below contact 22 has reached its maximum displacement, it moves back to equilibrium position 20 .

At a later time t ₃ , the node moves away from the contact 22 with which it was in contact as the portion below the contact 22 returns to the equilibrium position 20 . The contact detection sensor 25 corresponding to the contact body 22 detects the end of the contact of the node with the contact body 22 . The knot of the main rope 8 passes through the equilibrium position 20 with a velocity v in the negative direction of the y-axis.

At a subsequent time t ₄ , the knuckle again contacts the contact 22 located on the negative y-axis side of the equilibrium position 20 of the main rope 8 . The contact detection sensor 25 corresponding to the contact body 22 detects the start of contact of the node with the contact body 22 . Here, the portion below the contact body 22 vibrates in the same manner as when the contact body 22 is not provided in the elevator system 1 . Therefore, the main rope 8 repeats the same motion with a period T in the vibration caused by the shaking of the building 19 . While the main rope 8 is vibrating while contacting the contact body 22 , the amplitude estimation unit 24 acquires the start time and end time of the contact of the node with the contact body 22 detected by the contact detection unit 23 .

Here, the time during which the joint of the main rope 8 is moving between the pair of contact members 22, such as t ₂ -t ₁ , is longer than the time during which the contact of the joint is continued, such as t ₃ -t ₂ . Short enough. Therefore, the speed v' at which the node passes through the equilibrium position 20 can be approximated as v'=v. Since the distance between the pair of contact bodies 22 is 2Y, the amplitude estimator 24 calculates v using the following equation (5), for example.

・・・・・・（５）

(5)

Also, the amplitude estimator 24 calculates the period T of the vibration of the main rope 8 by, for example, the following equation (6).

・・・・・・（６）

(6)

The amplitude estimator 24 calculates Y' as shown in the following equation (7) based on equations (4) to (6).

・・・・・・（７）

(7)

The amplitude estimator 24 estimates the amplitude A of the abdomen based on Equations (3) and (7).

The amplitude estimator 24 detects abnormal vibration of the striatum when the estimated amplitude A exceeds the threshold. The threshold value is set in advance as a value corresponding to, for example, the amplitude at which the cord body contacts the steady rest provided in the hoistway 3 . The amplitude estimation unit 24 outputs a detection signal to the operation mode management unit 26 of the control panel 18 when detecting abnormal vibration. The operation mode management unit 26 switches the operation mode of the elevator from the normal operation mode to the control operation mode when the detection signal is input from the amplitude estimation unit 24 .

Next, an example of operation of the elevator system 1 will be described with reference to FIG.
6 is a flow chart showing an example of the operation of the elevator system according to Embodiment 1. FIG.

In step S<b>1 , the state estimation device 21 determines whether or not the joint of the main rope 8 has come into contact with the contact body 22 by the contact detection section 23 . When the determination result is No, the operation of the elevator system 1 with respect to the state estimation device 21 proceeds to step S1. When the determination result is Yes, the operation of the elevator system 1 with respect to the state estimation device 21 proceeds to step S2.

_In step S2, the state estimation device 21 sequentially _sets t1, t2, t3 _, and t4 as the start time and end time of the contact of the joint of the main rope ₈ with the contact body 22 by the contact detection unit 23. get. After that, the operation of the elevator system 1 with respect to the state estimating device 21 proceeds to step S3.

In step S3, the amplitude estimator 24 estimates the velocity v of the knot portion of the main rope 8 and the period T of vibration of the main rope 8 based on the start time and the end time. After that, the operation of the elevator system 1 with respect to the state estimation device 21 proceeds to step S4.

In step S4, the amplitude estimator 24 estimates the amplitude A of the abdomen based on the velocity v of the joint of the main rope 8 and the period T of vibration. After that, the operation of the elevator system 1 with respect to the state estimation device 21 proceeds to step S5.

In step S5, the amplitude estimator 24 determines whether the estimated amplitude A exceeds a threshold. When the determination result is No, the operation of the elevator system 1 with respect to the state estimation device 21 proceeds to step S1. When the determination result is Yes, the operation of the elevator system 1 proceeds to step S6.

In step S6, the operation mode management unit 26 of the control panel 18 switches the operation mode of the elevator to the controlled operation mode. After that, the operation of the elevator system 1 related to the estimation of the swaying state of the cord ends.

Note that the amplitude estimating unit 24 selects any two of four types of times including the start time and end time of contact with one contact body 22 and the start time and end time of contact with the other contact body 22 . Abdominal amplitude may be estimated based on the time of day of the species. The amplitude estimator 24 may calculate the period T using any one type of time interval. One type of time is, for example, the start time of contact with one of the contact bodies 22 . At this time, the one type of time interval is the time from the start time of contact to the contact body 22 to the start time of the next contact to the contact body 22 .

Also, the contact detection unit 23 may include only the contact detection sensor 25 corresponding to one contact body 22 . The node of the main rope 8 is displaced from the equilibrium position 20 to the position of the contact 22 with a velocity v during a half period of oscillation, continues the contact, and moves from the position of the contact 22 to the equilibrium position 20 with a velocity v. Displace. For this reason, the amplitude estimating unit 24 may calculate v by, for example, the following equation (8), where Δt is the duration of contact. It should be noted that the contact duration Δt is the time from the start time of contact with any of the contact bodies 22 to the end time of contact with the contact body 22 .

・・・・・・（８）

(8)

As described above, state estimation device 21 according to Embodiment 1 includes a pair of contact bodies 22 , contact detection section 23 , and amplitude estimation section 24 . A pair of contact bodies 22 are provided at mutually symmetrical positions with respect to the elevator cable along the node of the fundamental vibration of the elevator cable. The contact detection unit 23 detects contact of a node with at least one of the pair of contact bodies 22 . The amplitude estimator 24 estimates the abdominal amplitude of the fundamental vibration of the cord body based on at least two types of time out of the start time and end time of contact with each of the pair of contact bodies 22 .
The elevator system 1 according to Embodiment 1 also includes a pair of contact bodies 22 , a contact detection section 23 and an amplitude estimation section 24 . A pair of contact bodies 22 are provided at mutually symmetrical positions with respect to the elevator cable along the node of the fundamental vibration of the elevator cable. The contact detection unit 23 detects contact of a node with at least one of the pair of contact bodies 22 . The amplitude estimator 24 estimates the abdominal amplitude of the fundamental vibration of the cord body based on at least two types of time out of the start time and end time of contact with each of the pair of contact bodies 22 .

The contact start time and end time are the times at which the presence or absence of the contact with the contact member 22 of the cord body is switched. Here, since the presence or absence of contact is binary information, it is less susceptible to disturbance. Therefore, the contact start time and end time are less likely to be affected by disturbances. Therefore, the amplitude estimator 24 can stably estimate the amplitude of the abdomen at the joint of the elevator cord body.
Also, grasping the state of the devices in the elevator system 1 is important in constructing a BCP (Business Continuity Planning) information platform. The state estimating device 21 can estimate the swinging state of the elevator cord body as one of the device states.
In addition, since the contact member 22 is provided at the joint, the state estimation device 21 can be easily applied to the main rope 8 or the like, in which the length of the vibrating portion changes depending on the operation. In addition, the state estimation device 21 does not need to provide measuring devices such as cameras or non-contact sensors at multiple locations such as the abdomen in the vibrating portion.

Further, the contact detection unit 23 detects contact of the joint with each of the pair of contact bodies 22 . The amplitude estimator 24 estimates the abdominal amplitude of the basic vibration of the cord based on the start time and end time of contact with each of the pair of contact bodies 22 .

The amplitude estimator 24 estimates the amplitude of the abdomen based on four types of times, ie, the start time and end time of contact with each of the pair of contact bodies 22 . The four types of times are times during a time interval that is less than one cycle of vibration. Therefore, the state estimation device 21 can quickly estimate the vibration.

Further, the amplitude estimating unit 24 calculates the pair of contact bodies 22 based on the end time of contact of the node with one of the pair of contact bodies 22 and the start time of contact of the node with the other of the pair of contact bodies 22. Estimate the velocity of the knot moving between 22 . The amplitude estimator 24 estimates the vibration period of the cord based on the start time and end time of contact of the node with each of the pair of contact bodies 22 . The amplitude estimator 24 estimates the amplitude of the abdomen based on the estimated speed and cycle.

This allows the amplitude estimator 24 to estimate the amplitude of the abdomen through simple processing. Therefore, in the state estimating device 21, the processing load due to amplitude estimation is reduced.

The elevator system 1 also includes an operation mode management unit 26 . The operation mode management unit 26 switches the operation mode of the elevator to the control operation mode when the abdominal amplitude estimated by the amplitude estimation unit 24 exceeds a preset threshold value.

As a result, when the cable body vibrates greatly due to a resonance phenomenon or the like, it is possible to diagnose whether or not the elevator operation can be continued by control operation. For this reason, it is possible to prevent the occurrence of obstacles caused by, for example, the abnormally vibrating cords colliding with peripheral devices.

Also, the state estimation device 21 may be provided on the car 10, for example. At this time, the contact body 22 is provided along the node on the side of the node N2. The state estimation device 21 may be provided in the vibrating portion of the main rope 8 on the side of the counterweight 11 . The state estimator 21 may be provided on the vibrating portion of the balance rope 12 , the governor rope 15 , or the control cable 17 . Also, in the elevator system 1, the roping, such as the main rope 8, may be 1:1 roping, 2:1 roping, or other roping.

Further, in the elevator system 1, the machine room 4 may not be provided. At this time, devices such as the hoist 7 and the speed governor 14 may be provided above or below the hoistway 3 .

Also, the hardware of the amplitude estimator 24 may be integrated with the control panel 18 .

Next, an example of the hardware configuration of the elevator system 1 will be described with reference to FIG. 7 .
FIG. 7 is a hardware configuration diagram of main parts of the elevator system according to the first embodiment.

Each function of elevator system 1 can be implemented by a processing circuit. The processing circuit comprises at least one processor 1b and at least one memory 1c. The processing circuitry may comprise at least one piece of dedicated hardware 1a, together with or as an alternative to processor 1b and memory 1c.

When the processing circuit includes the processor 1b and the memory 1c, each function of the elevator system 1 is implemented by software, firmware, or a combination of software and firmware. At least one of software and firmware is written as a program. The program is stored in memory 1c. The processor 1b realizes each function of the elevator system 1 by reading and executing the programs stored in the memory 1c.

The processor 1b is also called a CPU (Central Processing Unit), processing device, arithmetic device, microprocessor, microcomputer, or DSP. The memory 1c is composed of non-volatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, EEPROM, or the like.

If the processing circuit comprises dedicated hardware 1a, the processing circuit may be implemented, for example, in a single circuit, multiple circuits, programmed processors, parallel programmed processors, ASICs, FPGAs, or combinations thereof.

Each function of the elevator system 1 can be implemented by a processing circuit. Alternatively, each function of the elevator system 1 can be collectively realized by a processing circuit. A part of each function of the elevator system 1 may be realized by dedicated hardware 1a, and the other part may be realized by software or firmware. Thus, the processing circuit implements each function of the elevator system 1 with hardware 1a, software, firmware, or a combination thereof.

Embodiment 2.
In the second embodiment, the differences from the example disclosed in the first embodiment will be described in detail. Any feature of the example disclosed in the first embodiment may be employed for features not described in the second embodiment.

FIG. 8 is a configuration diagram of a state estimation device according to Embodiment 2. FIG.

The state estimator 21 has a displacement amplifier 27 . The displacement amplifier 27 is a device that amplifies the displacement of the knot portion of the main rope 8 in the direction perpendicular to the longitudinal direction. The displacement amplifier 27 produces a negative stiffness at the knots of the main rope 8, for example. That is, the displacement amplifier 27 amplifies the displacement more strongly as the node is displaced from the equilibrium position 20 . Thereby, the state estimation device 21 also operates as a damping device for the main rope 8 .

The displacement amplifier 27 has two electromagnets 28, for example. The electromagnet 28 includes a coil 29 that generates a magnetic field when energized, and an iron core 30 . Coil 29 of electromagnet 28 is an example of a first coil. One electromagnet 28 corresponds to the contact 22 located on the positive side of the y-axis from the equilibrium position 20 of the main rope 8 . The other electromagnet 28 corresponds to the contact 22 arranged on the negative side of the y-axis from the equilibrium position 20 of the main rope 8 . The electromagnets 28 are arranged on the side of the main rope 8 remote from the equilibrium position 20 with respect to the corresponding contact 22 . The magnetic poles of the electromagnet 28 are directed to the nodes of the main rope 8 with the contact 22 interposed therebetween.

Here, the main rope 8 is made of, for example, a ferromagnetic material. Alternatively, the main rope 8 may be ferromagnetic by providing a ferromagnetic material on its surface. The magnetic field generated by the coil 29 of the electromagnet 28 creates an attractive force on the main rope 8 . The magnetic attraction force becomes stronger as the node gets closer to the electromagnet 28 . Therefore, the electromagnet 28 produces negative stiffness at the node due to the magnetic field.

The main rope 8 is subjected to a restoring force that pulls it back to the equilibrium position 20 due to tension or the like. The restoring force produces a force that is linear with respect to the displacement magnitude of the node. A negative stiffness, on the other hand, produces a non-linear force with respect to the magnitude of the displacement of the knot. Therefore, there is an unstable displacement range in which the negative stiffness prevents the joint from returning to the equilibrium position 20 when the displacement of the joint becomes large. The contact body 22 is arranged at a position closer to the equilibrium position 20 than the range of unstable displacement so that the node does not contact to the unstable range. In addition, the contact body 22 is formed of, for example, a non-magnetic material.

The contact detection unit 23 has an ammeter 31 . The magnetic flux passing through the coil 29 of the electromagnet 28 changes according to the position of the node of the ferromagnetic main rope 8 . Here, when the knuckle touches the contact body 22, the knuckle stops abruptly. As a result, the magnetic flux passing through the coil 29 of the electromagnet 28 suddenly changes. Due to the change in magnetic flux, a pulsed electromotive force is induced in the coil 29 of the electromagnet 28 . As a result, a pulse current flows through the coil 29 of the electromagnet 28 . The ammeter 31 of the contact detection unit 23 detects the start of contact of the node with the contact body 22 by detecting, for example, the pulse current flowing at the start of contact in this manner. Similarly, when the contact of the knuckle to the contact 22 ends, the knuckle suddenly resumes motion. The ammeter 31 of the contact detection unit 23 detects the termination of the contact of the node to the contact body 22 by detecting, for example, the pulse current that flows upon the termination of the contact.

As described above, state estimation device 21 according to Embodiment 2 includes displacement amplifier 27 . The displacement amplifier 27 amplifies the displacement in the direction perpendicular to the longitudinal direction of the nodes of the cord body.

By amplifying the minute displacement of the joint, the contact detection unit 23 can more stably detect the contact of the joint with the contact body 22 .
In addition, the state estimation device 21 can also serve as a damping device for the cable body. Therefore, it becomes easier to apply the state estimation device 21 and the damping device to the elevator system 1 .
The state estimating device 21 works as a damping device, thereby suppressing the vibration of the cord body that does not lead to abnormal vibration. This allows the elevator system 1 to operate more stably. In addition, the state estimating device 21 can suppress the occurrence of failures in the elevator system 1 by estimating the state of the swaying of the cable when the building shake 19 exceeds the damping capacity of the damping device. can.

Also, each of the pair of contact bodies 22 is arranged at a position closer to the equilibrium position 20 than the position where the amplification of the displacement by the displacement amplifier 27 prevents the node of the cord body from returning to the equilibrium position 20 of the fundamental vibration.

As a result, each of the pair of contact bodies 22 functions as a restricting member that prevents the joint from being displaced to an unstable position. Therefore, the displacement amplifier 27 can stably amplify the displacement caused by the vibration of the joint.

The displacement amplifier 27 also includes a first coil. The first coil generates a magnetic field that amplifies the displacement of the node. The contact detection unit 23 detects the contact of the node with the contact 22 by the electromotive force generated by the change in magnetic flux penetrating the first coil when the contact of the node with the contact 22 starts or ends.

The induced electromotive force at the start or end of the contact of the node with the contact member 22 is generated in a pulse shape. Therefore, detection of the electromotive force is less susceptible to disturbance. Thereby, the contact detection part 23 can detect a contact stably. Also, the coil 29 of the electromagnet 28 of the displacement amplifier 27 can also serve as the contact detection section 23 . This simplifies the configuration of the state estimation device 21 . Therefore, the state estimation device 21 becomes easier to apply to the elevator system 1 . In addition, the contact detection unit 23 may detect a pulse-shaped induced electromotive force using, for example, a voltmeter.

Embodiment 3.
In the third embodiment, points different from the examples disclosed in the first or second embodiment will be described in detail. For features not described in the third embodiment, features of any of the examples disclosed in the first embodiment or the second embodiment may be employed.

9 is a configuration diagram of a state estimation device according to Embodiment 3. FIG.
In this example, the state estimating device 21 is provided to estimate the sway state of the main rope 8 in the z-axis direction. The state estimating device 21 may be provided to estimate the state of shaking in other horizontal directions, such as the y-axis direction.

In this example, one contact 22 is located on the positive side of the z-axis from the equilibrium position 20 of the main rope 8 . The other contact 22 is located on the negative side of the z-axis from the equilibrium position 20 of the main rope 8 .

The displacement amplifier 27 comprises for example two magnet units 32 . One magnet unit 32 corresponds to the contact body 22 arranged on the positive side of the z-axis from the equilibrium position 20 of the main rope 8 . The other magnet unit 32 corresponds to the contact body 22 arranged on the negative side of the z-axis from the equilibrium position 20 of the main rope 8 .

In this example, the magnet unit 32 has two magnets 33 , a yoke 34 , a coil 35 and a resistor 36 . The coil 35 of the magnet unit 32 is an example of a second coil. Magnet 33 is, for example, a permanent magnet or electromagnet 28 . One magnet 33 is arranged on the upper side. The other magnet 33 is arranged on the lower side. The magnetic poles of each of the two magnets 33 are directed to the node of the main rope 8 with the contact 22 interposed therebetween. A yoke 34 is provided over the magnetic pole of each of the two magnets 33 on the side not facing the node of the main rope 8 . The yoke 34 is made of a highly permeable material such as iron that guides the magnetic flux of the magnet 33 . A coil 35 of the magnet unit 32 is wound around the yoke 34 . The magnetic flux of magnet 33 guided to yoke 34 passes through coil 35 of magnet unit 32 . Resistor 36 is electrically connected to coil 35 of magnet unit 32 .

Here, the main rope 8 is made of, for example, a ferromagnetic material. The magnetic field generated by the magnet 33 creates an attractive force on the main rope 8 . The magnetic attraction force becomes stronger as the node gets closer to the magnet 33 . For this reason, the magnet 33 causes negative stiffness in the node portion due to the magnetic field.

The magnetic flux passing through the coil 35 of the magnet unit 32 changes according to the position of the node of the main rope 8 having ferromagnetism. Therefore, the movement of the node between the contact bodies 22 causes an induced electromotive force in the coil 35 of the magnet unit 32 . A current flows through the coil 35 and the resistor 36 of the magnet unit 32 due to the induced electromotive force. Thereby, the resistor 36 converts the kinetic energy of the vibration of the node of the main rope 8 into Joule heat. That is, the magnet unit 32 also functions as an attenuator.

The contact detection unit 23 has an ammeter 31 . The magnetic flux passing through the coil 35 of the magnet unit 32 changes according to the position of the node of the main rope 8 having ferromagnetism. Here, when the knuckle touches the contact body 22, the knuckle stops abruptly. As a result, the magnetic flux passing through the coil 35 of the magnet unit 32 suddenly changes. Due to the change in magnetic flux, a pulsed electromotive force is induced in the coil 35 of the magnet unit 32 . Thereby, a pulse current flows through the coil 35 of the magnet unit 32 . The ammeter 31 of the contact detection unit 23 detects the start of contact of the node with the contact body 22 by detecting, for example, the pulse current flowing at the start of contact in this way. Similarly, when the contact of the knuckle to the contact 22 ends, the knuckle suddenly resumes motion. The ammeter 31 of the contact detection unit 23 detects the termination of the contact of the node to the contact body 22 by detecting, for example, the pulse current that flows upon the termination of the contact.

As described above, the displacement amplifier 27 of the state estimation device 21 according to Embodiment 3 includes the magnet 33 and the second coil. Magnet 33 generates a magnetic field that amplifies the displacement of the striatum . The second coil is pierced by the magnetic flux of magnet 33 . The contact detection unit 23 detects the contact of the node with the contact 22 by the electromotive force generated by the change in the magnetic flux penetrating the second coil when the contact of the node with the contact 22 starts or ends.

By the displacement amplifier 27 having the second coil acting as a damper, the swaying of the cord that does not lead to abnormal vibration is suppressed. This allows the elevator system 1 to operate more stably.
In addition, the induced electromotive force at the start or end of the contact of the node with the contact member 22 is generated in a pulse shape. Therefore, detection of the electromotive force is less susceptible to disturbance. Thereby, the contact detection part 23 can detect a contact stably.

Note that the magnet unit 32 may include only one magnet 33 . The magnet unit 32 may have three or more magnets 33 .

A state estimation device according to the present invention can be applied to an elevator system. The elevator system according to the present invention can be applied to buildings having multiple floors.

1 elevator system, 2 building, 3 hoistway, 4 machine room, 5 rope duct, 6 pit, 7 hoist, 8 main rope, 9 deflector, 10 cage, 11 counterweight, 12 counter rope, 13 tension wheel, 14 speed governor, 15 speed governor rope, 16 pulley, 17 control cable, 18 control panel, 19 building shaking, 20 equilibrium position, 21 state estimation device, 22 contact body, 23 contact detection unit, 24 amplitude estimation unit, 25 contact detection sensor, 26 operation mode management unit, 27 displacement amplifier, 28 electromagnet, 29 coil, 30 iron core, 31 ammeter, 32 magnet unit, 33 magnet, 34 yoke, 35 coil, 36 resistor, 1a hardware, 1b processor, 1c memory

Claims (9)

a pair of contact bodies provided at mutually symmetrical positions with respect to the cord body along the nodal portion of the fundamental vibration of the cord body of the elevator;
a contact detection unit that detects contact of the node with at least one of the pair of contact bodies;
an amplitude estimator for estimating the amplitude of the abdomen of the fundamental vibration of the cord body based on at least two kinds of times out of the start time and the end time of the contact with each of the pair of contact bodies;
A state estimating device for an elevator cord body. The apparatus for estimating the condition of the elevator cord according to claim 1, further comprising a displacement amplifier that amplifies a displacement of the joint of the cord in a direction perpendicular to the longitudinal direction. Each of the pair of contact bodies is arranged at a position closer to the equilibrium position than a position at which the node portion of the cord body cannot return to the equilibrium position of the fundamental vibration due to amplification of the displacement by the displacement amplifier. State estimating device for the described elevator cord . The displacement amplifier comprises a first coil that generates a magnetic field that amplifies the displacement of the node,
The contact detection unit detects contact of the node with the contact body by an electromotive force generated by a change in magnetic flux penetrating the first coil at the start or end of contact of the node with the contact body. 4. The apparatus for estimating the state of an elevator cord body according to claim 2 or 3. The displacement amplifier comprises a magnet that generates a magnetic field that amplifies the displacement of the cable , and a second coil that is pierced by the magnetic flux of the magnet,
The contact detection unit detects the contact of the node with the contact body by an electromotive force generated by a change in the magnetic flux penetrating the second coil at the start or end of contact of the node with the contact body. 4. The apparatus for estimating the state of an elevator cord body according to claim 2 or 3. The contact detection unit detects contact of the node with each of the pair of contact bodies,
6. The amplitude estimator according to any one of claims 1 to 5, wherein the amplitude estimator estimates the amplitude of the fundamental vibration of the cord body based on the start time and end time of contact with each of the pair of contact bodies. 3. The apparatus for estimating the state of the elevator cord body according to the above item. The amplitude estimator calculates the amplitude of the pair of contact bodies based on the end time of contact of the node with one of the pair of contact bodies and the start time of contact of the node with the other of the pair of contact bodies. estimating the velocity of the node moving between and estimating and estimating the period of vibration of the cord based on the start and end times of contact of the node with each of the pair of contact bodies The elevator cord state estimation device according to claim 6, wherein the amplitude of the abdomen is estimated based on the velocity and the period. a pair of contact bodies provided at mutually symmetrical positions with respect to the cord body along the nodal portion of the fundamental vibration of the cord body of the elevator;
a contact detection unit that detects contact of the node with at least one of the pair of contact bodies;
an amplitude estimator for estimating the amplitude of the abdomen of the fundamental vibration of the cord body based on at least two kinds of times out of the start time and the end time of the contact with each of the pair of contact bodies;
Elevator system with. The elevator system according to claim 8, further comprising an operation mode management unit that switches the operation mode of the elevator to a control operation mode when the amplitude of the abdomen estimated by the amplitude estimation unit exceeds a preset threshold.

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